CN102707716A - 一种传感器广义容错控制方法 - Google Patents

一种传感器广义容错控制方法 Download PDF

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CN102707716A
CN102707716A CN2012102158082A CN201210215808A CN102707716A CN 102707716 A CN102707716 A CN 102707716A CN 2012102158082 A CN2012102158082 A CN 2012102158082A CN 201210215808 A CN201210215808 A CN 201210215808A CN 102707716 A CN102707716 A CN 102707716A
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CN102707716B (zh
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陈博
滕诣迪
张宇
戚湧
孙瑜
方赓
朱长林
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Zhuhai Zhixuan Technology Co ltd
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Nanjing University of Science and Technology Changshu Research Institute Co Ltd
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Abstract

本发明属于传感器和系统控制领域，公开了一种传感器广义容错控制方法。针对在传感器失效的情况下，解决传感器系统状态不容易获得的问题，判断故障传感器的功能冗余是强还是弱，调整全维状态观测器增益阵，使控制器状态保持不变。本发明通过广义系统的分离，对反馈增益阵和全维状态观测器增益阵分别设计，当出现传感器故障时，利用调整观测器增益阵参数的办法实现容错，解决了传感器系统状态不容易获得的问题。

Description

一种传感器广义容错控制方法
技术领域
本发明属于传感器和系统控制领域，具体涉及一种传感器广义容错控制方法。
背景技术
容错是指控制系统的正常操作不受控制系统的任何真实的个别故障的影响。
现在控制系统规模越来越大，结构越来越复杂，容错控制系统是为了避免某些元件发生故障而引起其所在的控制系统不稳定而提出的理论。
如果在执行器、传感器或元部件发生故障时，闭环控制系统仍然是稳定的，并仍然具有较理想的特性，就称此闭环控制系统为容错控制系统。
专利CN 1233061 A中公开了一种用于控制现场设备的容错控制系统，包括：本质上完全相同的主控制系统和次控制系统，具有本质上完全相同的输入功能单元、本质完全相同的输出功能单元和本质上完全相同的处理功能单元，其中，所述主控制系统还包括一个用于各所述主功能单元的健康监控器和控制转移装置，用于将对现场设备的控制从所述主控制系统转移到所述次控制系统。
专利CN 101481019 A中公开了一种用于卫星姿态控制系统的传感器容错观测方法，首先对控制系统进行传感器故障检测隔离，若隔离结果判定第一传感器存在故障，则选择第二KX观测器进行观测，若判定第二传感器存在故障，则选择第一KX观测器进行观测。第一或第二KX观测器的确定方法为：假定第二或第一传感器存在故障，将控制系统分解为正常和故障两个子系统，以系统反馈稳定控制为目标，分别针对两个子系统设计低维KX函数观测器，进而合并得到具有容错性能的系统KX观测器。本发明通过设计两个并行KX观测器并融入控制切换流程，使卫星姿态控制系统在部分传感器输出不可靠时仍能保证系统剩余部分观测量的容错观测，保证故障系统的闭环控制完整性。
在上述专利文献中，控制系统的设计大都基于状态反馈进行设计，但是，系统状态有时难以获得，所以在容错控制过程中遇到了困难。
发明内容
1、本发明的目的。
在传感器失效的情况下，为了解决传感器系统状态难以获得的问题，本发明提出了一种传感器广义容错控制方法。
2、本发明所采用的技术方案。
传感器广义容错控制方法，主要包含以下步骤：
步骤一：将传感器的反馈增益阵和全维状态观测器增益阵分离；
步骤二：若故障的传感器是强功能冗余的则执行步骤三，若故障的传感器是弱功能冗余的则执行步骤四；
步骤三：找到一个全维状态观测器增益阵，使                                                的有限极点与的有限极点相同；
步骤四：找到一个全维状态观测器增益阵
Figure 402258DEST_PATH_IMAGE002
，使
Figure 729334DEST_PATH_IMAGE001
的有限极点均位于左半平面；
步骤五：设置全维状态观测器增益阵使控制器状态保持不变。
为了实时检测传感器的故障，所述的步骤二通过在线故障诊断技术进行判断。
所述的全维状态观测器增益阵为实矩阵。
3、本发明的有益效果。
本发明通过广义系统的分离，对反馈增益阵和全维状态观测器增益阵分别设计，当出现传感器故障时，利用调整观测器增益阵参数的办法来实现容错，解决传感器系统状态难以获得的问题。
附图说明
附图为感器广义容错控制方法的流程图。
具体实施方式
实施例
广义线性系统
Figure 141248DEST_PATH_IMAGE003
Figure 553775DEST_PATH_IMAGE004
其中，，，分别为系统的状态向量、输入向量、输出向量；
Figure 977486DEST_PATH_IMAGE008
为适当维数的实矩阵，并且满足：
假设1 矩阵组（）是
Figure 642003DEST_PATH_IMAGE010
可控、
Figure 330473DEST_PATH_IMAGE011
可控的，即
         
Figure 946448DEST_PATH_IMAGE013
，
Figure 164940DEST_PATH_IMAGE014
假设2 矩阵组（
Figure 961995DEST_PATH_IMAGE009
）是可观、
Figure 809569DEST_PATH_IMAGE011
可观的，即
        
Figure 882568DEST_PATH_IMAGE015
 
Figure 850524DEST_PATH_IMAGE013
，
Figure 8972DEST_PATH_IMAGE016
由假设2，广义线性系统存在全维状态观测器
         
Figure 454997DEST_PATH_IMAGE017
其中，
Figure 648081DEST_PATH_IMAGE018
Figure 786939DEST_PATH_IMAGE019
是状态估计向量，为观测器增益矩阵。
传感器广义容错控制方法，主要包含以下步骤：
步骤一：将传感器的反馈增益阵和全维状态观测器增益阵分离；
步骤二：若故障的传感器是强功能冗余的则执行步骤三，若故障的传感器是弱功能冗余的则执行步骤四；
步骤三：找到一个全维状态观测器增益阵
Figure 682399DEST_PATH_IMAGE002
，使
Figure 729990DEST_PATH_IMAGE021
的有限极点与
Figure 39748DEST_PATH_IMAGE022
的有限极点相同；
步骤四：找到一个全维状态观测器增益阵
Figure 172789DEST_PATH_IMAGE002
，使
Figure 226196DEST_PATH_IMAGE021
的有限极点均位于左半平面；
步骤五：设置全维状态观测器增益阵使控制器状态保持不变。
更进一步，为了实时检测传感器的故障，所述的步骤二通过在线故障诊断技术进行判断。
上述实施例不以任何方式限制本发明，凡是采用等同替换或等效变换的方式获得的技术方案均落在本发明的保护范围内。

Claims (3)

1.一种传感器广义容错控制方法，其特征在于主要包含以下步骤：
步骤一：将传感器的反馈增益阵和全维状态观测器增益阵分离；
步骤二：判断故障的传感器是强功能冗余的则执行步骤三，故障的传感器是弱功能冗余的则执行步骤四；
步骤三：找到一个全维状态观测器增益阵                                                
Figure 328787DEST_PATH_IMAGE001
使
Figure 595820DEST_PATH_IMAGE002
的有限极点与
Figure 857037DEST_PATH_IMAGE003
的有限极点相同；
步骤四：找到一个全维状态观测器增益阵
Figure 525916DEST_PATH_IMAGE001
使
Figure 332329DEST_PATH_IMAGE002
的有限极点均位于左半平面；
步骤五：设置全维状态观测器增益阵使控制器状态保持不变。
2.根据权利要求1所述的传感器广义容错控制方法，其特征在于：所述的步骤二通过在线故障诊断技术进行判断。
3.根据权利要求1所述的传感器广义容错控制方法，其特征在于：所述的全维状态观测器增益阵为实矩阵。
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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1233061A (zh) * 1998-04-17 1999-10-27 燃烧工程有限公司 容错控制系统
CN101481019A (zh) * 2009-02-20 2009-07-15 华中科技大学 一种用于卫星姿态控制系统的传感器容错观测方法
CN101995821A (zh) * 2010-06-25 2011-03-30 哈尔滨工程大学 一种智能分步容错控制方法

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1233061A (zh) * 1998-04-17 1999-10-27 燃烧工程有限公司 容错控制系统
CN101481019A (zh) * 2009-02-20 2009-07-15 华中科技大学 一种用于卫星姿态控制系统的传感器容错观测方法
CN101995821A (zh) * 2010-06-25 2011-03-30 哈尔滨工程大学 一种智能分步容错控制方法

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