CN103941725A - Fault diagnosis method of nonlinear network control system - Google Patents
Fault diagnosis method of nonlinear network control system Download PDFInfo
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Abstract
The invention relates to a fault diagnosis method of a nonlinear network control system. The fault diagnosis method comprises the following steps of setting a discrete model according to the status quo of the nonlinear network control system having state delay and model uncertainty; obtaining a robust fault detection filter of the nonlinear network control system having data packet dropout based on a method of a fault observer; setting an augmentation vector, generating a residual error dynamic system, and giving out conditions required by mean-square stability of the residual error dynamic system by means of the Lyapunov stability theory; solving for a gain matrix L and a residual error weight matrix R of the robust fault detection filter and judging whether the nonlinear network control system has faults. By means of the robust fault detection filter, fault sensitivity to the nonlinear network control system is improved greatly, strong robust on external disturbance and data packet dropout is achieved, and related fault diagnosis of the nonlinear network control system with the uncertain model can be achieved well.
Description
Technical field
The invention belongs to technical field of the computer network, relate to a kind of network control system, particularly a kind of method for diagnosing faults of nonlinear networked control systems.
Background technology
Network control system (Network Control System) refers to that the sensor of control system connects by network between actuator to controller and controller.Compared to traditional control system pattern, this networking control model has the advantages such as information resources can be shared, high-level efficiency, high reliability, is the development model of following control system.Due to the complicacy of Internet Transmission, in practical engineering application, higher than General System to the requirement of the security of NCS, reliability.Therefore, the research of the method for diagnosing faults of NCS is seemed to more urgent.
The research of existing network control system also mainly concentrates on the aspects such as foundation, network transmission performance analysis and stability analysis to system mathematic model.Research while comparatively speaking network control system being broken down to diagnosis seldom.Fault diagnosis research to nonlinear networked control systems especially seldom relates to, and saying nothing of is concerning have the uncertain nonlinear networked control systems of model of data packet loss.Reason is nonlinear control system itself and complicated, and research is got up can be quite difficult, adds adding of network, makes nonlinear network control system analysis get up more difficult.But it is worth mentioning that, nonlinear control system is ubiquitous in actual life, what say more definite is, our the daily control system touching is all nonlinear, it is the convenience in order to control, scholars are equivalent to corresponding linear system by nonlinear controlled device, are convenient to it to carry out analysis and control.In other words in other words, linearity is non-linear special representing form under given conditions.Nonlinear network control system is very extensive at current social application, the Aero-Space cause day by day soaring as China, military project system, robot research and development and more and more prosperous automobile industry etc.So the research to the fault diagnosis of nonlinear network control system is extremely important, if these systems break down and be not found in time and get rid of, consequence is hardly imaginable.
Nonlinear networked control systems as shown in Figure 1, the controlled device of control system is nonlinear, and is that model is uncertain and have states with time-delay, between sensor and controller, may there is data packet loss phenomenon in system.Existing nonlinear networked control systems method for diagnosing faults is also only concentrated on T-S fuzzy model and approaches controlled device, design Fuzzy Observer, and provide the condition of systematic error stability.As Ai Qiangyu utilizes ' if-then ' fuzzy rule of describing nonlinear system input/output relation, former nonlinear model is carried out to local linearization at place, working point, then these linear models are weighted and combine the former nonlinear model of matching.On the basis of fuzzy model, according to the method for linear system, set up Fuzzy Observer nonlinear network control system is carried out to fault diagnosis.Existing to nonlinear networked control systems method for diagnosing faults to Fault-Sensitive degree and not strong to the robustness of data packet loss, can not complete well the dependent failure diagnostic work to the uncertain nonlinear networked control systems of model.
Summary of the invention
The technical problem to be solved in the present invention is for the deficiencies in the prior art, proposes a kind of method for diagnosing faults of nonlinear networked control systems.The method can improve the robustness to the diagnosis susceptibility of nonlinear networked control systems fault and data packet loss greatly, can complete well the dependent failure diagnostic work to the uncertain nonlinear networked control systems of model.
The technical problem to be solved in the present invention is achieved through the following technical solutions.The present invention is a kind of method for diagnosing faults of nonlinear networked control systems, is characterized in, comprises the steps:
Step 1: set the discrete model of nonlinear networked control systems, this discrete model can embody the states with time-delay of nonlinear networked control systems and the uncertain feature of discrete model self;
Step 2: for the discrete model in step 1, obtain for detection of the Robust Fault Detection Filters with the nonlinear networked control systems of data packet loss;
Step 3: according to the discrete model in step 1, augmentation vector is set, obtains residual error dynamic system in conjunction with augmentation vector sum discrete model, utilize Lyapunov stability theory to generate residual error dynamic system;
Step 4: according to the equal stable condition in side of residual error dynamic system, obtain gain matrix L and the residual error weight matrix R of Robust Fault Detection Filters;
Step 5: according to the result of the gain matrix L of gained and residual error weight matrix R, obtain the residual plot of system, the residual plot by system judges whether nonlinear networked control systems fault has occurred;
Wherein, the nonlinear networked control systems discrete model described in step 1 is as follows:
Wherein,
the quantity of state of system,
the output quantity of system,
the input quantity of controller,
the norm-bounded undesired signal of system,
the fault letter that system need to detect,
the constant matrices of appropriate dimension,
represent the model uncertainty of network control system,
the embodiment of states with time-delay,
to there is sector boundary
nonlinear function, and meet
;
Robust Fault Detection Filters described in step 2 is as follows:
Wherein,
for the residual error of system,
for the gain matrix of Robust Fault Detection Filters,
for residual error weight matrix.
In the method for diagnosing faults technical scheme of a kind of nonlinear networked control systems of the present invention, further preferred technical scheme feature is: the method for building up of the Robust Fault Detection Filters in described step 2 is, nonlinear networked control systems discrete model described in integrating step one, suppose that the correlation matrix of a concrete nonlinear networked control systems is as follows:
Undesired signal in system is:
, wherein,
for random noise,
Fault-signal in system is:
The nonlinear correlation parameter of system is:
In addition, the time delay of system and uncertain parameter are as follows:
，
，
Then, utilize the method for state observer, design is for the fault of this nonlinear networked control systems
Detection filter device.
In the method for diagnosing faults technical scheme of a kind of nonlinear networked control systems of the present invention, further preferred technical scheme feature is: described step 3 comprises the steps:
1) augmentation vector is set
Again in addition
，
In conjunction with described discrete model, obtain residual error dynamic system;
2) choose suitable Lyapunov function, Lyapunov function is
Wherein
,
for non-vanishing vector,
positive definite matrix for suitable dimension;
3) according to Lyapunov function, obtain all square stable conditions of residual error dynamic system.
In the method for diagnosing faults technical scheme of a kind of nonlinear networked control systems of the present invention, further preferred technical scheme feature is: in described step 4, utilize the LMI tool box of MATLAB to solve all square stable conditions, obtain gain matrix L and the residual error weight matrix R of described Robust Fault Detection Filters.
In the method for diagnosing faults technical scheme of a kind of nonlinear networked control systems of the present invention, further preferred technical scheme feature is: the LMI tool box that utilizes MATLAB in described step 4, in conjunction with equal square stable conditions, obtains gain matrix L and the residual error weight matrix R of described Robust Fault Detection Filters.
Compared with prior art, the present invention is by arranging Robust Fault Detection Filters, not only greatly improved the Fault-Sensitive degree to nonlinear network system, and external disturbance and data packet loss are had to stronger robustness, can well complete the dependent failure diagnostic work to the uncertain nonlinear networked control systems of model.
Accompanying drawing explanation
Fig. 1 is nonlinear networked control systems structural drawing of the present invention;
Fig. 2 is the structural drawing of system failure detection principle of the present invention;
Fig. 3 is the process flow diagram of nonlinear networked control systems method for diagnosing faults of the present invention.
Embodiment
Referring to accompanying drawing, further describe concrete technical scheme of the present invention, so that those skilled in the art understands the present invention further, and do not form the restriction of its power.
Embodiment 1, and as shown in Figures 2 and 3, a kind of method for diagnosing faults of nonlinear networked control systems, is characterized in, comprises the steps:
Step 1: set the discrete model of nonlinear networked control systems, this discrete model can embody the states with time-delay of nonlinear networked control systems and the uncertain feature of discrete model self;
Step 2: for the discrete model in step 1, obtain for detection of the Robust Fault Detection Filters with the nonlinear networked control systems of data packet loss;
Step 3: according to the discrete model in step 1, augmentation vector is set, obtains residual error dynamic system in conjunction with augmentation vector sum discrete model, utilize Lyapunov stability theory to generate residual error dynamic system;
Step 4: according to the equal stable condition in side of residual error dynamic system, obtain gain matrix L and the residual error weight matrix R of Robust Fault Detection Filters;
Step 5: according to the result of the gain matrix L of gained and residual error weight matrix R, obtain the residual plot of system, the residual plot by system judges whether nonlinear networked control systems fault has occurred;
Wherein, the nonlinear networked control systems discrete model described in step 1 is as follows:
Wherein,
the quantity of state of system,
the output quantity of system,
the input quantity of controller,
the norm-bounded undesired signal of system,
the fault letter that system need to detect,
the constant matrices of appropriate dimension,
represent the model uncertainty of network control system,
the embodiment of states with time-delay,
to there is sector boundary
nonlinear function, and meet
; Packet loss situation between sensor and controller is obeyed Bernoulli Jacob and is distributed, if system exists packet loss phenomenon,
, and
, wherein,
the size that represents packet loss,
there is packet loss in expression system, otherwise
there is not packet loss in expression system.
Robust Fault Detection Filters described in step 2 is as follows:
Wherein,
for the residual error of system,
for the gain matrix of Robust Fault Detection Filters,
for residual error weight matrix.
In conjunction with above-mentioned nonlinear networked control systems discrete model, suppose that the correlation matrix of a concrete nonlinear networked control systems is as follows:
Undesired signal in system is:
, wherein,
for random noise,
Fault-signal in system is:
The nonlinear correlation parameter of system is:
In addition, the time delay of system and uncertain parameter are as follows:
，
，
Then, utilize the method for state observer, design is for the fault of this nonlinear networked control systems
Detection filter device, Robust Fault Detection Filters is as follows:
Wherein,
for the residual error of system,
for the gain matrix of Robust Fault Detection Filters,
for residual error weight matrix, get
, core missions of the present invention are exactly the gain matrix of trying to achieve Robust Fault Detection Filters
with residual error weight matrix
, but to try to achieve this two matrixes, need to be by utilizing LMI tool box solution to make the progressive stable LMI of residual error system.
In order releasing, to make the progressive stable LMI of residual error system, according to the discrete model of nonlinear networked control systems, to set augmentation vector:
1) augmentation vector is set
Again in addition
，
Wherein, K can be any value, gets
, obtain residual error dynamic system as follows:
Wherein,
, and
be a real uncertain matrix, meet
.
2) choose suitable Lyapunov function, Lyapunov function is
Wherein
,
for non-vanishing vector,
positive definite matrix for suitable dimension.
lemma 1:if
for suitable dimension matrix, and
, to all, meet so
the matrix of condition
if, inequality
, and if only if there is constant
, make
.
lemma 2:to given scalar
if there is constant
and positive definite matrix
, linear inequality (1) is below set up, so residual error dynamic system be progressive all sides stable and
satisfy condition
, wherein,
it is given constant.
Wherein,
,
Order
By lemma 1, formula (1) can be turned to:
（1）
Wherein,
Define following matrix:
can obtain:
Diagonal matrix is taken advantage of respectively in formula (1) left and right
,
, obtain
Again above formula left and right is all multiplied by
can obtain following inequality, again by the known dynamic residual error system of lemma 2 be progressive all side stable and
satisfy condition
thereby, obtain gain matrix L and the residual error weight matrix R of Robust Fault Detection Filters.
For given scalar
, get here
if existed
, positive definite symmetric matrices
,
, and real matrix
, following LMI is set up, so, residual error dynamic system is MS-stable:
wherein,
,
，
3) according to Lyapunov function, derive and to make all square stable conditions of the residual error dynamic system that LMI sets up, can utilize the LMI tool box of MATLAB to solve all square stable conditions, obtain gain matrix L and the residual error weight matrix R of described Robust Fault Detection Filters.Afterwards, according to the gain matrix L of research step of the present invention and wave filter and residual error weight matrix R, obtain the residual plot of system, by the residual plot of system, can judge studied nonlinear networked control systems thus whether fault has occurred.
Claims (4)
1. a method for diagnosing faults for nonlinear networked control systems, its technical characterictic is, comprises the steps:
Step 1: set up the discrete model of nonlinear networked control systems, this discrete model can embody the states with time-delay of nonlinear networked control systems and the uncertain feature of discrete model self;
Step 2: for the discrete model in step 1, set up for detection of the Robust Fault Detection Filters with the nonlinear networked control systems of data packet loss;
Step 3: according to the discrete model in step 1, augmentation vector is set, obtains residual error dynamic system in conjunction with augmentation vector sum discrete model, utilize Lyapunov stability theory to generate residual error dynamic system;
Step 4: according to the equal stable condition in side of residual error dynamic system, obtain gain matrix L and the residual error weight matrix R of Robust Fault Detection Filters;
Step 5: according to the result of the gain matrix L of gained and residual error weight matrix R, obtain the residual plot of system, the residual plot by system judges whether nonlinear networked control systems fault has occurred;
Wherein, the nonlinear networked control systems discrete model described in step 1 is as follows:
Wherein,
the quantity of state of system,
the output quantity of system,
the input quantity of controller,
the norm-bounded undesired signal of system,
the fault letter that system need to detect,
the constant matrices of appropriate dimension,
represent the model uncertainty of network control system,
the embodiment of states with time-delay,
to there is sector boundary
nonlinear function, and meet
;
Robust Fault Detection Filters described in step 2 is as follows:
Wherein,
for the residual error of system,
for the gain matrix of Robust Fault Detection Filters,
for residual error weight matrix.
2. the method for diagnosing faults of a nonlinear networked control systems, its technical characterictic is, the method for building up of the Robust Fault Detection Filters in described step 2 is: the nonlinear networked control systems discrete model described in integrating step one, suppose that the correlation matrix of a concrete nonlinear networked control systems is as follows:
Undesired signal in system is:
, wherein,
for random noise,
Fault-signal in system is:
The nonlinear correlation parameter of system is:
In addition, the time delay of system and uncertain parameter are as follows:
，
，
Then, utilize the method for state observer, design is for the fault of this nonlinear networked control systems
Detection filter device.
3. the method for diagnosing faults of nonlinear networked control systems according to claim 1, is characterized in that: described step 3 comprises the steps:
1) augmentation vector is set
Again in addition
，
In conjunction with described discrete model, obtain residual error dynamic system;
2) choose suitable Lyapunov function, Lyapunov function is
Wherein
,
for non-vanishing vector,
positive definite matrix for suitable dimension;
3) according to Lyapunov function, obtain all square stable conditions of residual error dynamic system.
4. the method for diagnosing faults of nonlinear networked control systems according to claim 1 and 2, its technical characterictic is: the LMI tool box that utilizes MATLAB in described step 4, in conjunction with equal square stable conditions, obtains gain matrix L and the residual error weight matrix R of described Robust Fault Detection Filters.
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| CN112526975B (en) * | 2020-12-02 | 2022-03-22 | 西北工业大学 | Based on H-/L∞Simultaneous fault diagnosis and control method for nonlinear system of observer |
| CN114545907A (en) * | 2022-03-15 | 2022-05-27 | 中南大学 | Fault detection method of flight control system based on filter |
| CN114545907B (en) * | 2022-03-15 | 2023-12-19 | 中南大学 | Fault detection method of flight control system based on filter |
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