执行器随机失效系统鲁棒预测容错切换控制

Robust Predictive Fault Tolerant Switching Control for Actuator Random Failure Systems

针对一类具有执行器随机失效问题的离散线性系统,提出一种基于故障概率情况下的鲁棒预测容错切换控制方法。首先,将工业过程建立成新型多自由度状态空间模型,设计含有故障概率的容错控制器;其次,引入系统故障和其恢复时的随机概率,利用李雅普诺夫判据给出基于线性矩阵不等式形式的稳定性条件,再通过指数稳定的相关证明求解出不同执行器切换时的稳定条件,以保证系统故障时容错控制与无故障时常规控制间的切换;然后,控制器设计时还充分考虑了设定值变化时所产生的跟踪误差带来的影响。最后,通过仿真结果验证了所提方法的可行性。

For a class of discrete-time linear systems with actuator random failure problem,a robust predictive fault-tolerant switching control method based on malfunction probability is proposed.Firstly,the industrial process is established as a new multi degree of freedom state space model,and the fault-tolerant controller with fault probability is designed.Secondly,the random probability of system failure and its recovery is introduced,and the stability conditions based on linear matrix inequality are given by using Lyapunov stability criterion.Then,the stability conditions for the switching of different controllers are solved through the relevant proof of exponential stability,so as to ensure the switching between fault-tolerant control and conventional control without failure.Then,the influence of the tracking error caused by the change of the set value is fully considered in the design of the controller.Finally,the feasibility of the proposed method is verified by simulation results.