CN103941725B - A kind of method for diagnosing faults of nonlinear networked control systems - Google Patents
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Abstract
A kind of method for diagnosing faults of nonlinear networked control systems of the present invention, comprises the following steps：For the nonlinear networked control systems present situation with states with time-delay and the uncertain feature of model, the discrete model of the nonlinear networked control systems present situation is set；Method based on Failure Observer, obtains being directed to the Robust Fault Detection Filters of the nonlinear networked control systems with data packetloss；Augmentation vector is set, residual error dynamical system is generated, the condition of residual error dynamical system mean square stability is provided using Lyapunov Theory of Stability；The gain matrix L and residual error weight matrix R of Robust Fault Detection Filters are obtained, judges whether nonlinear networked control systems there occurs failure.The present invention is by setting Robust Fault Detection Filters, not only substantially increase the Fault-Sensitive degree to nonlinear network system, and there is stronger robustness to external disturbance and data packetloss, the dependent failure diagnostic work to model Uncertain nonlinear network control system can be completed well.
Description
Technical field
The invention belongs to technical field of the computer network, it is related to a kind of network control system, it is more particularly to a kind of non-linear
The method for diagnosing faults of network control system.
Background technology
Network control system (Network Control System) refers to the sensor of control system to controller and control
Device processed is to passing through network connection between actuator.Compared to traditional control system pattern, this control based on network pattern has
Information resources can be shared, high efficiency, high reliability the advantages of, be the development model of following control system.Due to network transmission
Complexity, in practical engineering application, the requirement to NCS security, reliability is higher than General System.Therefore, to NCS
The research of method for diagnosing faults seem more urgent.
The research of existing network control system is also concentrated mainly on foundation to system mathematic model, network transmission performance
In terms of analysis and stability analysis.Comparatively the research broken down to network control system when diagnosing is then seldom.It is right
The fault diagnosis research of nonlinear networked control systems is especially seldom related to, not to mention be to the model with data packetloss not
For determining nonlinear networked control systems.Reason is that nonlinear control system is in itself and its complicated, and research is got up can phase
Work as difficulty, along with the addition for having network, nonlinear network control system analysis is got up more difficult.But it is worth mentioning
That nonlinear control system is generally existing in actual life, say more precisely, the control that our everyday exposures are arrived
System processed is all nonlinear, is intended merely to the convenience of control, and nonlinear controlled device is equivalent to corresponding line by scholars
Sexual system, is easy to analyze it and controlled.In other words that is, linear simply non-linear special list under given conditions
Existing form.Nonlinear network control system in current social application widely, such as Aero-Space that increasingly soar of China
Cause, military project system, robot research and development and more and more prosperous automobile industry etc..So to nonlinear network control system
The research of fault diagnosis is extremely important, if these system jams are not found and excluded in time again, consequence then can't bear
Contemplate.
Nonlinear networked control systems as shown in Figure 1, the controlled device of control system is nonlinear, and is model
Do not know and with states with time-delay, system there may be data packetloss phenomenon between sensor and controller.It is existing right
Nonlinear networked control systems method for diagnosing faults is also only focusing only on T-S fuzzy models to approach controlled device, designs mould
Observer is pasted, and provides the condition of systematic error stability.If Ai Qiang jade is using describing nonlinear system input/output relation
Former nonlinear model is carried out local linearization by ' if-then ' fuzzy rule at operating point, then these linear models are carried out
Weighted array is fitted former nonlinear model.On the basis of fuzzy model, according to the method for linear system, it is established that fuzzy to see
Survey device and fault diagnosis is carried out to nonlinear network control system.It is existing to nonlinear networked control systems method for diagnosing faults
It is to Fault-Sensitive degree and not strong to the robustness of data packetloss, it is impossible to complete well to the uncertain nonlinear network of model
The dependent failure diagnostic work of control system.
The content of the invention
The technical problem to be solved in the present invention is in view of the shortcomings of the prior art, to propose a kind of nonlinear networked control systems
Method for diagnosing faults.This method can be greatly improved loses to the diagnosis susceptibility and data of nonlinear networked control systems failure
The robustness of bag, the dependent failure diagnostic work to the uncertain nonlinear networked control systems of model can be completed well.
The technical problem to be solved in the present invention is achieved through the following technical solutions.The present invention is a kind of nonlinear network
The method for diagnosing faults of control system, is characterized in, comprises the following steps：
Step one：The discrete model of nonlinear networked control systems is set, the discrete model can embody nonlinear network
The uncertain feature of the states with time-delay and discrete model itself of control system；
Step 2：For the discrete model in step one, obtain for detecting the nonlinear network control with data packetloss
The Robust Fault Detection Filters of system processed；
Step 3：According to the discrete model in step one, augmentation vector is set, obtained with reference to augmentation vector sum discrete model
Residual error dynamical system, residual error dynamical system is generated using Lyapunov Theory of Stability；
Step 4：According to the condition of residual error dynamical system mean square stability, the gain square of Robust Fault Detection Filters is obtained
Battle array L and residual error weight matrix R；
Step 5：According to the gain matrix L of gained and residual error weight matrix R result, the residual plot of system is obtained,
Judge whether nonlinear networked control systems there occurs failure by the residual plot of system；
Wherein, the nonlinear networked control systems discrete model described in step one is as follows：
Wherein, xkIt is the quantity of state of system, ykIt is the output quantity of system, ukIt is the input quantity of controller, wkIt is the model of system
Number BOUNDED DISTURBANCES signal, fkIt is the fault-signal that system needs to detect, A, B, C, D0、F0, G be appropriate dimension constant matrices, Δ
A represents the model uncertainty of network control system, Ddxk-dIt is the embodiment of states with time-delay,It is with sector boundary
[T1, T2] nonlinear function, and meet
Robust Fault Detection Filters described in step 2 are as follows：
Wherein, rkFor the residual error of system, L is the gain matrix of Robust Fault Detection Filters, and R is residual error weight matrix, α
Represent the size of packet loss；
In a kind of method for diagnosing faults technical scheme of nonlinear networked control systems of the present invention, further preferred technology
Scheme is characterized in：The method for building up of Robust Fault Detection Filters in described step two is, with reference to described in step one
Nonlinear networked control systems discrete model, it is assumed that the correlation matrix of a specific nonlinear networked control systems is such as
Under：
Interference signal in system is：wk=2e(-0.01k)N (k), k=0,1,2 ... ... 100, wherein, n (k) is random
Noise,
Fault-signal in system is：
The relevant parameter of mission nonlinear is：
In addition, the time delay and uncertain parameter of system are as follows：
Then, the method for utilization state observer, failure of the design for this nonlinear networked control systems
Fault detection filter.
In a kind of method for diagnosing faults technical scheme of nonlinear networked control systems of the present invention, further preferred technology
Scheme is characterized in：Described step three comprises the following steps：
1) augmentation vector is set
ζk=[ek, xk]T、vk=[wk, fk]T
Again in addition
Residual error dynamical system is obtained with reference to described discrete model；
2) suitable Lyapunov functions are chosen, Lyapunov functions are
Wherein Z=[0 I], ξkFor non-vanishing vector, S, T are the suitable positive definite matrix tieed up；
3) the mean square stability condition of residual error dynamical system is obtained according to Lyapunov functions.
In a kind of method for diagnosing faults technical scheme of nonlinear networked control systems of the present invention, further preferred technology
Scheme is characterized in：Mean square stability condition is solved using MATLAB LMI tool boxes in described step four, described robust is obtained
The gain matrix L and residual error weight matrix R of fault Detection Filter.
In a kind of method for diagnosing faults technical scheme of nonlinear networked control systems of the present invention, further preferred technology
Scheme is characterized in：MATLAB LMI tool boxes combination mean square stability condition is utilized in described step four, described robust is obtained
The gain matrix L and residual error weight matrix R of fault Detection Filter.
Compared with prior art, the present invention is not only substantially increased to non-thread by setting Robust Fault Detection Filters
The Fault-Sensitive degree of property network system, and there is stronger robustness to external disturbance and data packetloss, it can complete well
To the dependent failure diagnostic work of model Uncertain nonlinear network control system.
Brief description of the drawings
Fig. 1 is nonlinear networked control systems structure chart of the invention；
Fig. 2 is the structure chart of the system failure detection principle of the present invention；
Fig. 3 is the flow chart of the nonlinear networked control systems method for diagnosing faults of the present invention.
Embodiment
Referring to the drawings, the concrete technical scheme of the present invention is further described, in order to which those skilled in the art enters
Understand the present invention to one step, the limitation without constituting its power.
Embodiment 1, as shown in Figures 2 and 3, a kind of method for diagnosing faults of nonlinear networked control systems be characterized in,
Comprise the following steps：
Step one：The discrete model of nonlinear networked control systems is set, the discrete model can embody nonlinear network
The uncertain feature of the states with time-delay and discrete model itself of control system；
Step 2：For the discrete model in step one, obtain for detecting the nonlinear network control with data packetloss
The Robust Fault Detection Filters of system processed；
Step 3：According to the discrete model in step one, augmentation vector is set, obtained with reference to augmentation vector sum discrete model
Residual error dynamical system, residual error dynamical system is generated using Lyapunov Theory of Stability；
Step 4：According to the condition of residual error dynamical system mean square stability, the gain square of Robust Fault Detection Filters is obtained
Battle array L and residual error weight matrix R；
Step 5：According to the gain matrix L of gained and residual error weight matrix R result, the residual plot of system is obtained,
Judge whether nonlinear networked control systems there occurs failure by the residual plot of system；
Wherein, the nonlinear networked control systems discrete model described in step one is as follows：
Wherein, xkIt is the quantity of state of system, ykIt is the output quantity of system, ukIt is the input quantity of controller, wkIt is the model of system
Number BOUNDED DISTURBANCES signal, fkIt is the fault-signal that system needs to detect, A, B, C, D0、F0, G be appropriate dimension constant matrices Δ A
Represent the model uncertainty of network control system, Ddxk-dIt is the embodiment of states with time-delay,It is with sector boundary [T1,
T2] nonlinear function, and meetBetween sensor and controller
Packet loss situation obeys Bernoulli Jacob's distribution, if system has packet loss phenomenon,And Pr { αk=1 }=α, Pr { αk=0 }=1- α, wherein, α represents packet loss
Size, αkThere is packet loss in=1 expression system, otherwise αk=0 expression system there is not generation packet loss.
Robust Fault Detection Filters described in step 2 are as follows：
Wherein, rkFor the residual error of system, L is the gain matrix of Robust Fault Detection Filters, and R is residual error weight matrix, α
Represent the size of packet loss.
With reference to above-mentioned nonlinear networked control systems discrete model, it is assumed that a specific nonlinear networked control systems
Correlation matrix it is as follows：
Interference signal in system is：wk=2e(-0.01k)N (k), k=0,1,2 ... ... 100, wherein, n (k) is random
Noise,
Fault-signal in system is：
The relevant parameter of mission nonlinear is：
In addition, the time delay and uncertain parameter of system are as follows：
Then, the method for utilization state observer, failure of the design for this nonlinear networked control systems
Fault detection filter, Robust Fault Detection Filters are as follows：
Wherein, rkFor the residual error of system, L is the gain matrix of Robust Fault Detection Filters, and R is residual error weight matrix,
α=0.95 is taken, core missions of the invention are exactly the gain matrix L and residual error weight matrix for trying to achieve Robust Fault Detection Filters
R, but the two matrixes are tried to achieve, it is necessary to make the linear matrix inequality technique of residual error system asymptotically stability by using LMI tool boxes solution
Formula.
In order to release the LMI for making residual error system asymptotically stability, according to nonlinear networked control systems from
Dissipate model, setting augmentation vector：
1) augmentation vector is set
ζk=[ek, xk]T、vk=[wk, fk]T
Again in addition
Wherein, K can be any value, take K=[0.8006 0.192], obtain residual error dynamical system as follows：
Wherein,And IkBe a reality not
Matrix is determined, Δ A=MI is metkN,
2) suitable Lyapunov functions are chosen, Lyapunov functions are
Wherein Z=[0 I], ξkFor non-vanishing vector, S, T are the suitable positive definite matrix tieed up.
Lemma 1：If H, M, N are appropriate dimension matrix, and H=HT, then meet U to allTThe matrix U of U≤I conditions, such as
Fruit inequality H+MUN+NTUTMT＜ 0, and if only if has constant θ ＞ 0, makes H+ θ MMT+θ-1NTN ＜ 0.
Lemma 2：To given scalar lambda ＞ 0, if there is constant δ ＞ 0 and positive definite matrix S=ST＞ 0, T=TT＞ 0, makes
Following linear inequality (1) is set up, then residual error dynamical system is progressive mean square stability and rkMeet conditionWherein, γ is given constant.
Wherein,
Order
Formula (1) can be turned to by lemma 1：
(1)
Wherein,
Define following matrix：
It can obtain：
Formula (1) left and right is multiplied into diagonal matrix respectively Obtain
All being multiplied by diag { I I I O I I I I O I O I Q I I I } to above formula or so again can obtain following
Inequality, and understand that dynamic residual system is progressive mean square stability and r by lemma 2kMeet conditionSo as to obtain the gain matrix L and residual error of Robust Fault Detection Filters
Weight matrix R.
I.e. for given scalar lambda ＞ 0, λ=0.823 is taken here, if there is δ ＞ 0, ε ＞ 0, positive definite symmetric matrices S=
ST＞ 0, T=TT＞ 0, O=OT＞ 0, P=PT＞ 0, Q=QT＞ 0, and real matrix L, R so that following LMI
Set up, then, residual error dynamical system is MS-stable：
Wherein,
E{(αk-α)2}=σ2。
3) the mean square stability bar for the residual error dynamical system for setting up LMI is derived according to Lyapunov functions
Part, it is possible to use MATLAB LMI tool boxes solve mean square stability condition, obtains described Robust Fault Detection Filters
Gain matrix L and residual error weight matrix R.Afterwards, according to the research step of the present invention and the gain matrix L and residual error of wave filter
Weight matrix R, obtains the residual plot of system, and studied non-thread can be judged from there through the residual plot of system
Whether property network control system there occurs failure.
Claims (3)
1. a kind of method for diagnosing faults of nonlinear networked control systems, it is technically characterized in that, comprises the following steps：
Step one：The discrete model of nonlinear networked control systems is set up, the discrete model can embody nonlinear network control
The uncertain feature of the states with time-delay and discrete model itself of system；
Step 2：For the discrete model in step one, set up for detecting that the nonlinear network with data packetloss controls system
The Robust Fault Detection Filters of system；
Step 3：According to the discrete model in step one, augmentation vector is set, residual error is obtained with reference to augmentation vector sum discrete model
Dynamical system, the mean square stability condition of residual error dynamical system is generated using Lyapunov Theory of Stability；
Step 4：According to the mean square stability condition of residual error dynamical system, obtain Robust Fault Detection Filters gain matrix L and
Residual error weight matrix R；
Step 5：According to the gain matrix L of gained and residual error weight matrix R result, the residual plot of system is obtained, is passed through
The residual plot of system judges whether nonlinear networked control systems there occurs failure；
Wherein, the discrete model of the nonlinear networked control systems described in step one is as follows：
Wherein, xkIt is the quantity of state of system, ykIt is the output quantity of system, ukIt is the input quantity of controller, wkIt is that the norm of system has
Boundary's interference signal, fkIt is the fault-signal that system needs to detect, A, B, C, D0、F0, G be appropriate dimension constant matrices, Δ A generations
The model uncertainty of table network control system, Ddxk-dIt is the embodiment of states with time-delay,It is with sector boundary [T1,
T2] nonlinear function, and meet
Robust Fault Detection Filters described in step 2 are as follows：
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Wherein, rkFor the residual error of system, L is the gain matrix of Robust Fault Detection Filters, and R is residual error weight matrix, and α is represented
The size of packet loss；
Described step three comprises the following steps：
1) augmentation vector is set
ζk=[ek, xk]T、vk=[wk, fk]T
Again in addition
uk=Kxk
Wherein, KK can be any value, take K=[0.8006 0.192], obtain residual error dynamical system as follows：
Wherein,
And IkIt is a real uncertain matrix, meets Δ A=MIkN,
Residual error dynamical system is obtained with reference to described discrete model；
2) suitable Lyapunov functions are chosen, Lyapunov functions are
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Wherein Z=[0 I], ξkFor non-vanishing vector, S, T are the suitable positive definite matrix tieed up；
3) the mean square stability condition of residual error dynamical system is obtained according to Lyapunov functions.
2. the method for diagnosing faults of nonlinear networked control systems according to claim 1, it is characterised in that described step
The method for building up of Robust Fault Detection Filters in rapid two is：Nonlinear networked control systems with reference to described in step one
Discrete model, it is assumed that the correlation matrix of a specific nonlinear networked control systems is as follows：
C=[0.1 0]
D0=0.7827, D1=0,F1=1
Interference signal in system is：wk=2e(-0.01k) n (k), k=0,1,2.........100, wherein, n (k) is to make an uproar at random
Sound,
Fault-signal in system is：
The relevant parameter of mission nonlinear is：
In addition, the time delay and uncertain parameter of system are as follows：
D=1,N=[0.2 0]
Then, the method for utilization state observer, fault Detection Filter of the design for this nonlinear networked control systems.
3. the method for diagnosing faults of nonlinear networked control systems according to claim 1 or 2, it is characterised in that described
The step of four in utilize MATLAB LMI tool boxes combination mean square stability condition, obtain described in Robust Fault Detection Filters
Gain matrix L and residual error weight matrix R.
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| CN111026087B (en) * | 2019-12-20 | 2021-02-09 | 中国船舶重工集团公司第七一九研究所 | Weight-containing nonlinear industrial system fault detection method and device based on data |
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