CN111381581A - Integrated method and system for fault diagnosis and fault-tolerant control of execution mechanism - Google Patents
Integrated method and system for fault diagnosis and fault-tolerant control of execution mechanism Download PDFInfo
- Publication number
- CN111381581A CN111381581A CN202010153200.6A CN202010153200A CN111381581A CN 111381581 A CN111381581 A CN 111381581A CN 202010153200 A CN202010153200 A CN 202010153200A CN 111381581 A CN111381581 A CN 111381581A
- Authority
- CN
- China
- Prior art keywords
- fault
- control law
- bilinear
- matrix
- inequality
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0259—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the response to fault detection
- G05B23/0286—Modifications to the monitored process, e.g. stopping operation or adapting control
- G05B23/0294—Optimizing process, e.g. process efficiency, product quality
Landscapes
- Engineering & Computer Science (AREA)
- Quality & Reliability (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Feedback Control In General (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
An integrated method for diagnosing the failure of executing mechanism and controlling the fault tolerance of executing mechanism includes such steps as integrating the effective factor gamma (n) describing the failure mode of executing mechanism with the gain parameter K (n) of controller, and integrating the comprehensive control lawThe reconstruction problem of (2) is converted into a constraint optimization problem of a bilinear inequality set; then, the constraint optimization problem is rapidly solved to obtain a comprehensive control lawFinally, the effective factor gamma (n) is estimated on line by adopting a Kalman filtering algorithm and is passedThe required gain parameter k (n) of the fault-tolerant controller is obtained after the fault is generated by the synchronous operation. The method of the invention effectively reduces the influence degree of the fault and reduces the systemThe safety risk of the system ensures that the spacecraft control system can autonomously perform real-time diagnosis and rapid reconstruction on different fault modes of the actuating mechanism, greatly reduces the on-board calculation pressure under the limited resource constraint in the on-orbit operation stage, and enhances the engineering applicability of the method.
Description
Technical Field
The invention belongs to the field of space control, and relates to a diagnosis and fault-tolerant control integrated method and system suitable for an executing mechanism in a spacecraft control system after a fault occurs.
Background
Autonomy is an important trend of future spacecraft control towards intelligent development, implementation of autonomous fault diagnosis and fault-tolerant control by an executing mechanism running in orbit is one of key support technologies for developing space intelligent autonomous control, a new way is opened for improving reliability, maintainability and effectiveness of a spacecraft, and the method becomes a research hotspot and a research difficulty in the field of current aerospace.
At present, fault diagnosis technologies applied in on-track and research models mostly use state residuals of a system for diagnosis, the correctness of the fault diagnosis method depends on a set threshold, and the setting of the value is complex, so that the accuracy of fault diagnosis is influenced. In view of this, it is necessary to introduce the idea of fault reconstruction into the research work of spacecraft fault diagnosis technology and to complete the design of fault-tolerant controllers by using reconstructed faults. In the research field, for performance degradation faults of an actuating mechanism, the traditional method is to estimate the faults and then adjust gain parameters of a controller, so that the influence degree of the faults is enlarged, the safety risk of the system is increased, and the real-time diagnosis and the rapid reconstruction of the faults by a spacecraft control system are difficult to ensure.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the method and the system are suitable for the integrated method and the system for the autonomous diagnosis and the fault-tolerant control after the execution mechanism in the spacecraft control system breaks down, describe the specific fault mode of the execution mechanism by using a fault effective factor, take the fault effective factor and a controller gain parameter as a whole, and carry out rapid estimation and synchronous solution on the fault effective factor and the controller gain parameter by adopting an optimal estimation and regional pole configuration method, realize the integrated collaborative design of the fault diagnosis and the fault-tolerant control, and further ensure the real-time performance and the rapidity of the control system.
The technical scheme adopted by the invention is as follows: an integrated method for fault diagnosis and fault-tolerant control of an execution mechanism comprises the following steps:
(1) the method converts the design problem of the comprehensive control law into the constraint optimization problem of a bilinear inequality set by using a regional pole allocation principle, and comprises the following steps of:
step 1.1: establishing a mathematical model of a spacecraft control system when an actuating mechanism fails, wherein the model is described by adopting a state space model in a discrete time-varying form as follows:
wherein, Γ (n) is an effective factor describing a specific failure mode of an actuating mechanism, x (n), u (n) and y (n) are respectively a state variable, an input variable and an output variable of a system, w (n) and v (n) are respectively a process noise variable and a measurement noise variable of the system, A (n), B (n) and C (n) are respectively a dynamic model matrix, an actuating mechanism installation matrix and a sensor installation matrix of the system, and n represents the nth moment of the system.
Step 1.2: according to the obtained mathematical model, based on the regional pole allocation principle, by designing a comprehensive control lawSo that the symmetric positive definite matrix X1(n)、X2(n) and X3(n) the following bilinear inequality groups are satisfied, that is, the system can be ensured to satisfy the requirements of dynamic characteristics and stability in a proper region (stable region) of the complex plane; to this end, the comprehensive control lawThe design problem of (a) is converted into a constraint optimization problem of bilinear inequality set.
[A(n)+B(n)Γ(n)K(n)C(n)]X1(n)+X1(n)[A(n)+B(n)Γ(n)K(n)C(n)]T+2αX1(n)<0
Wherein:
a11=a22=sinθ{[A(n)+B(n)Γ(n)K(n)C(n)]X3(n)+X3(n)[A(n)+B(n)Γ(n)K(n)C(n)]T}
X1(n)、X2(n) and X3(n) is a symmetric positive definite matrix to be solved, K (n) is a controller gain parameter to be designed, α and theta represent the included angle of a stable region, and r represents the radius of the stable region, namely α, theta and r are used for describing the appropriate region range meeting the dynamic characteristic and stability requirements of the system in a complex plane.
(2) Based on the obtained bilinear inequality set, a perturbation linearization technology is adopted to rapidly solve the bilinear inequality set, the flow is shown as a figure 2, and the method comprises the following steps:
Step 2.2: order toSolving for t, X as followsi(n), i ═ 1,2,3 linear matrix inequality constraint minima problem:
wherein epsilon1Denotes a preset first threshold value, and I denotes an identity matrix.
The minimum value obtained is defined as tjMint; if tj<0 and Aj(n) all poles are located in the stable region, thenCompleting solution for a required value, and entering the step (3); if tj<0 and Aj(n) if the poles are not all located in the stable region, returning to step 2.1; if tjIf not less than 0, entering the step 2.3;
step 2.3: order toSolving for the following amount of shooting δ X1(n)、δX2(n)、δX3(n) andthe problem of linearization minima.
In the formula:
χ3(n)=(ψ12(n))T,
find tj-1If | tj-1-tj|>ε2And j is<N (N is the maximum number of iterations), then orderj equals j +1, and the step 2.2 is returned; otherwise, returning to the step 2.1. Wherein epsilon2To a set second threshold value, epsilon2=0.0001。
(3) Comprehensive control law obtained by utilizing the stepsThe Kalman filtering algorithm is adopted to estimate the effective factor gamma (n) on line, and the fault-tolerant control law required after the fault is synchronously obtained
(4) Utilizing the fault-tolerant control law obtained in the step (3)And controlling a spacecraft control system.
An integrated system for performing fault diagnosis and fault tolerant control of an actuator, comprising:
the first module converts the reconstruction problem of the comprehensive control law into a constraint optimization problem of a bilinear inequality group by using a regional pole allocation principle to obtain the bilinear inequality group;
the second module is used for solving the bilinear inequality group by adopting a perturbation linearization method according to the bilinear inequality group to obtain the comprehensive control law
Third module, utilizing integrated control lawThe Kalman filtering algorithm is adopted to estimate the effective factor gamma (n) on line, and the fault-tolerant control law required after the fault is synchronously obtainedAnd controlling a spacecraft control system.
In the first module, a specific method for converting the reconstruction problem of the comprehensive control law into the constraint optimization problem of the bilinear inequality set is as follows:
step 1.1: establishing a mathematical model of a spacecraft control system when an actuating mechanism fails, and describing by adopting a state space model in a discrete time-varying form as follows:
wherein, Γ (n) is an effective factor describing a specific fault mode of an actuating mechanism, x (n), u (n) and y (n) are respectively a state variable, an input variable and an output variable of a system, w (n) and v (n) are respectively a process noise variable and a measurement noise variable of the system, A (n), B (n) and C (n) are respectively a dynamic model matrix, an actuating mechanism installation matrix and a sensor installation matrix of the system, and n represents the nth moment of the system;
step 1.2: according to the mathematical model established in step 1.1, by designing the comprehensive control lawSo that the symmetric positive definite matrix X1(n)、X2(n) and X3(n) satisfies the following bilinear inequality set of equations:
[A(n)+B(n)Γ(n)K(n)C(n)]X1(n)+X1(n)[A(n)+B(n)Γ(n)K(n)C(n)]T+2αX1(n)<0
wherein:
X1(n)、X2(n) and X3(n) is a symmetric positive definite matrix to be solved, K (n) is a controller gain parameter to be set, α and theta are included angles of the stable region, and r is a radius of the stable region.
In the second module, the comprehensive control law is obtainedThe specific method comprises the following steps:
Step 2.2: order toSolving for t, X as followsi(n) minima problem under the constraint of the linear matrix inequality:
wherein epsilon1The first threshold value is preset, I represents an identity matrix, I is 1,2, 3; t is the amount of relaxation to be optimized; j is the step length of iterative optimization;
the minimum value obtained is defined as tjMint; if tj<0 and Aj(n) all poles are located in the stable region, thenTo obtain a desired value, a comprehensive control lawIf tj<0 and Aj(n) if the poles are not all located in the stable region, returning to step 2.1, and adjusting the initial feedback gain; if tjIf not less than 0, entering the step 2.3;
step 2.3: order toSolving for the following amount of shooting δ X1(n)、δX2(n)、δX3(n) andthe linearization minima problem of (1):
in the formula:
χ3(n)=(ψ12(n))T,
find tj-1If | tj-1-tj|>ε2And j is<N, then orderj equals j +1, and the step 2.2 is returned; otherwise, returning to the step 2.1; wherein N is the maximum number of iterations, ∈2Is a preset second threshold value.
Compared with the prior art, the invention has the beneficial effects that:
(1) the method disclosed by the invention is based on an integrated technical means, realizes synchronous execution of fault estimation and processing, improves the emergency processing capacity of the fault of the executing mechanism, has great advantages in rapidity and real-time compared with the traditional technology, can ensure high performance and high quality of the attitude control level of the spacecraft when the executing mechanism is in fault, improves the on-orbit running quality of the spacecraft to a certain extent, prolongs the service life, and enriches the thinking and system of the design of the existing control system.
(2) The invention provides a fault-tolerant control method and a fault-tolerant control system with simple structural form and small on-orbit calculation amount, which move the parameters of on-orbit calculation to the ground design stage, only need to estimate effective factors in real time and synchronously adjust the control law on the orbit, greatly reduce the on-board calculation amount compared with the traditional technology, ensure the system to have good reliability, ensure the system to still have excellent applicability under the constraint of limited resources such as on-board calculation and storage, and effectively expand the application range of the existing fault diagnosis and fault-tolerant control method.
Drawings
FIG. 1 is a flow chart of the method of the present invention;
FIG. 2 is a flow chart of solving a bilinear inequality set problem by using a perturbation linearization method in the method of the present invention;
FIG. 3 is a graph of attitude angle and its variation based on the prior state feedback control method;
FIG. 4 is a graph of control torque variation based on a prior state feedback control method;
FIG. 5 is a graph of attitude angle and its variation based on the method of the present invention;
fig. 6 is a graph of the variation of the control torque obtained based on the method of the present invention.
Detailed Description
The invention is further explained by the figures and the examples.
An integrated method of fault diagnosis and fault-tolerant control of an execution mechanism comprises the following steps, and the flow is shown in fig. 1:
(1) the method converts the reconstruction problem of the comprehensive control law into the constraint optimization problem of a bilinear inequality set by using a regional pole allocation principle, and comprises the following steps of:
step 1.1: establishing a mathematical model of a spacecraft control system when an actuating mechanism fails, wherein the model is described by adopting a state space model in a discrete time-varying form as follows:
wherein, Γ (n) is an effective factor describing a specific fault mode of an actuating mechanism, x (n), u (n) and y (n) are respectively a state variable, an input variable and an output variable of a system, w (n) and v (n) are respectively a process noise variable and a measurement noise variable of the system, and A (n), B (n) and C (n) are respectively a dynamic model matrix, an actuating mechanism installation matrix and a sensor installation matrix of the system; n represents the nth time of the system, and n is a positive integer.
Step 1.2: according to the obtained mathematical model, based on the regional pole allocation principle, by designing a comprehensive control lawSo that the symmetric positive definite matrix X1(n)、X2(n) and X3(n) the following bilinear inequality groups are satisfied, that is, the system can be ensured to satisfy the requirements of dynamic characteristics and stability in a proper region (stable region) of the complex plane; to this end, the comprehensive control lawIs transformed into a bilinear inequality set of constraint optimizationAnd (5) problems are solved.
[A(n)+B(n)Γ(n)K(n)C(n)]X1(n)+X1(n)[A(n)+B(n)Γ(n)K(n)C(n)]T+2αX1(n)<0
Wherein:
a11=a22=sinθ{[A(n)+B(n)Γ(n)K(n)C(n)]X3(n)+X3(n)[A(n)+B(n)Γ(n)K(n)C(n)]T}
X1(n)、X2(n) and X3(n) is a symmetric positive definite matrix to be solved, K (n) is a controller gain parameter to be designed, α and theta represent the included angle of a stable region, and r represents the radius of the stable region, namely α, theta and r are used for describing the appropriate region range meeting the dynamic characteristic and stability requirements of the system in a complex plane.
(2) Based on the obtained bilinear inequality set, a perturbation linearization technology is adopted to rapidly solve the bilinear inequality set, the flow is shown as a figure 2, and the method comprises the following steps:
Step 2.2: order toSolving for t, X as followsi(n), i ═ 1,2,3 linear matrix inequality constraint minima problem:
wherein epsilon1Denotes a preset first threshold value, and I denotes an identity matrix.
The minimum value obtained is defined as tjMint; if tj<0 and Aj(n) all poles are located in the stable region, thenCompleting solution for a required value, and entering the step (3); if tj<0 and Aj(n) if the poles are not all located in the stable region, returning to step 2.1; if tjIf not less than 0, entering the step 2.3;
step 2.3: order toSolving for the following amount of shooting δ X1(n)、δX2(n)、δX3(n) andthe problem of linearization minima.
In the formula:
χ3(n)=(ψ12(n))T,
find tj-1If | tj-1-tj|>ε2And j is<N (N is the maximum number of iterations), then orderj equals j +1, and the step 2.2 is returned; otherwise, returning to the step 2.1. Wherein epsilon2Is a preset second threshold value.
(3) Comprehensive control law obtained by utilizing the stepsThe Kalman filtering algorithm is adopted to estimate the effective factor gamma (n) on line, and the fault-tolerant control law required after the fault is synchronously obtained
(4) Utilizing the fault-tolerant control law obtained in the step (3)The on-orbit fault of the actuating mechanism can be diagnosed in real time and reconstructed quickly, so that the influence degree of the fault is effectively reduced, the safety risk of the system is reduced, the autonomous viability of the spacecraft control system is greatly improved, and the operation cost of ground measurement and control is reduced.
An integrated system for performing fault diagnosis and fault tolerant control of an actuator, comprising:
the first module converts the reconstruction problem of the comprehensive control law into a constraint optimization problem of a bilinear inequality group by using a regional pole allocation principle to obtain the bilinear inequality group;
the second module is used for solving the bilinear inequality group by adopting a perturbation linearization method according to the bilinear inequality group to obtain the comprehensive control law
Third module, utilizing integrated control lawThe Kalman filtering algorithm is adopted to estimate the effective factor gamma (n) on line, and the fault-tolerant control law required after the fault is synchronously obtainedAnd controlling a spacecraft control system.
In the first module, a specific method for converting the reconstruction problem of the comprehensive control law into the constraint optimization problem of the bilinear inequality set is as follows:
step 1.1: establishing a mathematical model of a spacecraft control system when an actuating mechanism fails, and describing by adopting a state space model in a discrete time-varying form as follows:
wherein, Γ (n) is an effective factor describing a specific fault mode of an actuating mechanism, x (n), u (n) and y (n) are respectively a state variable, an input variable and an output variable of a system, w (n) and v (n) are respectively a process noise variable and a measurement noise variable of the system, A (n), B (n) and C (n) are respectively a dynamic model matrix, an actuating mechanism installation matrix and a sensor installation matrix of the system, and n represents the nth moment of the system;
step 1.2: according to the mathematical model established in step 1.1, by designing the comprehensive control lawSo that the symmetric positive definite matrix X1(n)、X2(n) and X3(n) satisfies the following bilinear inequality set of equations:
[A(n)+B(n)Γ(n)K(n)C(n)]X1(n)+X1(n)[A(n)+B(n)Γ(n)K(n)C(n)]T+2αX1(n)<0
wherein:
X1(n)、X2(n) and X3(n) is a symmetric positive definite matrix to be solved, K (n) is a controller gain parameter to be set, α and theta are included angles of the stable region, and r is a radius of the stable region.
In the second module, the comprehensive control law is obtainedThe specific method comprises the following steps:
Step 2.2: order toSolving for t, X as followsi(n) minima problem under the constraint of the linear matrix inequality:
wherein epsilon1The first threshold value is preset, I represents an identity matrix, I is 1,2, 3; t is the amount of relaxation to be optimized; j is the step length of iterative optimization;
the minimum value obtained is defined as tjMint; if tj<0 and Aj(n) all poles are located in the stable region, thenTo obtain a desired value, a comprehensive control lawIf tj<0 and Aj(n) if the poles are not all located in the stable region, returning to step 2.1, and adjusting the initial feedback gain; if tjIf not less than 0, entering the step 2.3;
step 2.3: order toSolving for the following amount of shooting δ X1(n)、δX2(n)、δX3(n) andthe linearization minima problem of (1):
in the formula:
χ3(n)=(ψ12(n))T,
Example (b):
relevant simulation parameters of the spacecraft attitude control system are as follows; meanwhile, a momentum wheel is adopted as an actuating mechanism, the maximum control torque of the momentum wheel is set to be 1N m, and the fault occurrence time is 15 s.
(1) The satellite principal inertia matrix is taken as
(2) Initial attitude angular velocity of
ω0=[0.3 0.3 0.3]°/s
(3) Initial attitude angle of
α0=[3 4 5]°
(4) Covariance matrix of process noise and observation noise as
W=diag([0.0320.0320.0320.0320.0320.032])
V=0.52W
(5) The parameters for the stable region are set to α -1.5, θ -0.8, and r-5
By the ground design, the closed loop poles of the system can be obtained as follows:
λ1,2=-1.5076±0.3474i
λ3,4=-1.5076±0.3238i
λ5,6=-1.5097±0.0107i
fig. 3 and 4 are an attitude angle and attitude angular velocity change simulation curve and a control moment change simulation curve obtained by the existing state feedback control method, respectively; fig. 5 and fig. 6 are an attitude angle and attitude angular velocity change simulation curve and a control moment change simulation curve respectively obtained by the autonomous fault diagnosis and reconfiguration control integrated method designed by the present invention.
Comparing the simulation curve results of fig. 3 to fig. 6, it can be known that, when the momentum wheel has a serious failure, the state feedback controller designed based on the prior art can cause the attitude of the spacecraft to diverge, that is, the prior art cannot ensure that the stability of the attitude is realized after the executing mechanism has a failure, and thus it is difficult to ensure that the spacecraft provides safe, reliable, continuous and stable services. The integrated control method obtained by the invention can effectively diagnose and reconstruct the controller aiming at the faults of the actuating mechanism, thereby ensuring the stability of the system, having good response process and having more advantages in performance compared with the prior state feedback control method. Moreover, the integrated control method designed by the invention is not only applicable to single actuator faults, but also can be popularized and applied to the condition of multiple actuator faults.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Claims (6)
1. An integrated method for fault diagnosis and fault-tolerant control of an execution mechanism is characterized by comprising the following steps:
(1) converting the reconstruction problem of the comprehensive control law into a constraint optimization problem of a bilinear inequality set by using a regional pole allocation principle;
(2) solving the bilinear inequality group by adopting a perturbation linearization method according to the bilinear inequality group obtained in the step (1) to obtain a comprehensive control law
(3) Comprehensive control law obtained by using step (2)The Kalman filtering algorithm is adopted to estimate the effective factor gamma (n) on line, and the fault-tolerant control law required after the fault is synchronously obtained
2. The integrated method for fault diagnosis and fault-tolerant control of the execution mechanism according to claim 1, wherein the specific steps of the step (1) are as follows:
step 1.1: establishing a mathematical model of a spacecraft control system when an actuating mechanism fails, and describing by adopting a state space model in a discrete time-varying form as follows:
wherein, Γ (n) is an effective factor describing a specific fault mode of an actuating mechanism, x (n), u (n) and y (n) are respectively a state variable, an input variable and an output variable of a system, w (n) and v (n) are respectively a process noise variable and a measurement noise variable of the system, A (n), B (n) and C (n) are respectively a dynamic model matrix, an actuating mechanism installation matrix and a sensor installation matrix of the system, and n represents the nth moment of the system;
step 1.2: according to the mathematical model established in step 1.1, by designing the comprehensive control lawSo that the symmetric positive definite matrix X1(n)、X2(n) and X3(n) satisfies the following bilinear inequality set of equations:
[A(n)+B(n)Γ(n)K(n)C(n)]X1(n)+X1(n)[A(n)+B(n)Γ(n)K(n)C(n)]T+2αX1(n)<0
wherein:
X1(n)、X2(n) and X3(n) is a symmetric positive definite matrix to be solved, K (n) is a controller gain parameter to be set, α and theta are included angles of the stable region, and r is a radius of the stable region.
3. The integrated method for fault diagnosis and fault-tolerant control of the execution mechanism according to claim 2, wherein the specific method of the step (2) is as follows:
Step 2.2: order toSolving for t, X as followsi(n) minima problem under the constraint of the linear matrix inequality:
min t
wherein epsilon1The first threshold value is preset, I represents an identity matrix, I is 1,2, 3; t is the amount of relaxation to be optimized; j is the step length of iterative optimization;
the minimum value obtained is defined as tjMint; if tj<0 and Aj(n) all poles are located in the stable region, thenEntering the step (3) for the required value; if tj<0 and Aj(n) if the poles are not all located in the stable region, returning to step 2.1, and adjusting the initial feedback gain; if tjIf not less than 0, entering the step 2.3;
step 2.3: order toSolving for the following amount of shooting δ X1(n)、δX2(n)、δX3(n) andthe linearization minima problem of (1):
min t
in the formula:
χ3(n)=(ψ12(n))T,
4. An integrated system for performing fault diagnosis and fault tolerant control of an actuator, comprising:
the first module converts the reconstruction problem of the comprehensive control law into a constraint optimization problem of a bilinear inequality group by using a regional pole allocation principle to obtain the bilinear inequality group;
the second module is used for solving the bilinear inequality group by adopting a perturbation linearization method according to the bilinear inequality group to obtain the comprehensive control law
5. The system of claim 4, wherein the specific method for transforming the reconstruction problem of the integrated control law into the constrained optimization problem of the bilinear inequality set in the first module is as follows:
step 1.1: establishing a mathematical model of a spacecraft control system when an actuating mechanism fails, and describing by adopting a state space model in a discrete time-varying form as follows:
wherein, Γ (n) is an effective factor describing a specific fault mode of an actuating mechanism, x (n), u (n) and y (n) are respectively a state variable, an input variable and an output variable of a system, w (n) and v (n) are respectively a process noise variable and a measurement noise variable of the system, A (n), B (n) and C (n) are respectively a dynamic model matrix, an actuating mechanism installation matrix and a sensor installation matrix of the system, and n represents the nth moment of the system;
step 1.2: according to the mathematical model established in step 1.1, by designing the comprehensive control lawSo that the symmetric positive definite matrix X1(n)、X2(n) and X3(n) satisfies the following bilinear inequality set of equations:
[A(n)+B(n)Γ(n)K(n)C(n)]X1(n)+X1(n)[A(n)+B(n)Γ(n)K(n)C(n)]T+2αX1(n)<0
wherein:
X1(n)、X2(n) and X3(n) is a symmetric positive definite matrix to be solved, K (n) is a controller gain parameter to be set, α and theta are included angles of the stable region, and r is a radius of the stable region.
6. The integrated system for fault diagnosis and fault-tolerant control of actuator of claim 5, wherein the second moduleIn the middle, get the comprehensive control lawThe specific method comprises the following steps:
Step 2.2: order toSolving for t, X as followsi(n) minima problem under the constraint of the linear matrix inequality:
min t
wherein epsilon1The first threshold value is preset, I represents an identity matrix, I is 1,2, 3; t is the amount of relaxation to be optimized; j is the step length of iterative optimization;
the minimum value obtained is defined as tjMint; if tj<0 and Aj(n) all poles are located in the stable region, thenTo obtain a desired value, a comprehensive control lawIf tj<0 and Aj(n) if the poles are not all located in the stable region, returning to step 2.1, and adjusting the initial feedback gain; if tjIf not less than 0, entering the step 2.3;
step 2.3: order toSolving for the following amount of shooting δ X1(n)、δX2(n)、δX3(n) andthe linearization minima problem of (1):
min t
in the formula:
χ3(n)=(ψ12(n))T,
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202010153200.6A CN111381581B (en) | 2020-03-06 | 2020-03-06 | Integrated method and system for fault diagnosis and fault-tolerant control of execution mechanism |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202010153200.6A CN111381581B (en) | 2020-03-06 | 2020-03-06 | Integrated method and system for fault diagnosis and fault-tolerant control of execution mechanism |
Publications (2)
Publication Number | Publication Date |
---|---|
CN111381581A true CN111381581A (en) | 2020-07-07 |
CN111381581B CN111381581B (en) | 2021-07-09 |
Family
ID=71217207
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202010153200.6A Active CN111381581B (en) | 2020-03-06 | 2020-03-06 | Integrated method and system for fault diagnosis and fault-tolerant control of execution mechanism |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN111381581B (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114115198A (en) * | 2021-11-25 | 2022-03-01 | 哈尔滨工业大学 | Assembly production line-oriented distributed diagnosis and optimization control method and control system |
CN116880171A (en) * | 2023-06-28 | 2023-10-13 | 北京空间飞行器总体设计部 | Spacecraft lightweight autonomous fault diagnosis method |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102323754A (en) * | 2011-07-29 | 2012-01-18 | 北京理工大学 | Robust gain scheduling control method based on regional pole assignment |
CN107270892A (en) * | 2017-05-22 | 2017-10-20 | 扬州大学 | A kind of anti-interference fault-tolerant Initial Alignment Method of inertial navigation system |
CN107861383A (en) * | 2017-10-23 | 2018-03-30 | 天津大学 | Satellite failure diagnosis and fault tolerant control method based on Adaptive Observer |
-
2020
- 2020-03-06 CN CN202010153200.6A patent/CN111381581B/en active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102323754A (en) * | 2011-07-29 | 2012-01-18 | 北京理工大学 | Robust gain scheduling control method based on regional pole assignment |
CN107270892A (en) * | 2017-05-22 | 2017-10-20 | 扬州大学 | A kind of anti-interference fault-tolerant Initial Alignment Method of inertial navigation system |
CN107861383A (en) * | 2017-10-23 | 2018-03-30 | 天津大学 | Satellite failure diagnosis and fault tolerant control method based on Adaptive Observer |
Non-Patent Citations (2)
Title |
---|
刘细军,刘成瑞,刘文静: ""敏感器故障诊断与容错控制一体化设计"", 《空间控制技术与应用》 * |
白杰,王倩,王伟,刘程: ""基于MPC 的航空发动机传感器容错控制"", 《计算机仿真》 * |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114115198A (en) * | 2021-11-25 | 2022-03-01 | 哈尔滨工业大学 | Assembly production line-oriented distributed diagnosis and optimization control method and control system |
CN116880171A (en) * | 2023-06-28 | 2023-10-13 | 北京空间飞行器总体设计部 | Spacecraft lightweight autonomous fault diagnosis method |
Also Published As
Publication number | Publication date |
---|---|
CN111381581B (en) | 2021-07-09 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN109630281B (en) | Active fault-tolerant control method for aircraft engine based on error interval observer | |
CN103488092B (en) | Diagnose and fault tolerant control method based on the satellite failure of T-S fuzzy model with study observer | |
CN106292681B (en) | A kind of satellite Active Fault-tolerant Control Method distributed based on observer and On-line Control | |
CN111381581B (en) | Integrated method and system for fault diagnosis and fault-tolerant control of execution mechanism | |
Tudoroiu et al. | Satellite fault diagnosis using a bank of interacting Kalman filters | |
CN107450328B (en) | A kind of anti-interference fault tolerant control method based on E-S sliding mode observers | |
CN108681240B (en) | Fault diagnosis method for unmanned aerial vehicle distributed formation based on unknown input observer | |
Edwards et al. | Sliding mode methods for fault detection and fault tolerant control with application to aerospace systems | |
CN106773679A (en) | A kind of spacecraft fault tolerant control method based on angular speed observer | |
CN110058519A (en) | A kind of active formation fault tolerant control method based on quick self-adapted technology | |
CN107703742A (en) | A kind of flexible spacecraft sensor fault adjusting method | |
Hu et al. | Fault tolerant control with H∞ performance for attitude tracking of flexible spacecraft | |
CN114564000B (en) | Active fault tolerance method and system based on intelligent aircraft actuator fault diagnosis | |
CN104020774A (en) | Aircraft attitude fault-tolerant control method based on dynamic control redistribution | |
CN104765312A (en) | Implementation method for reconfigurable aircraft control system | |
Baldi et al. | ArduPilot-based adaptive autopilot: Architecture and software-in-the-loop experiments | |
CN111596679B (en) | Finite time output feedback attitude tracking control method for aircraft | |
Ze-Hui et al. | Fault estimation and accommodation for networked control systems with transfer delay | |
CN113568423B (en) | Intelligent fault-tolerant control method of four-rotor unmanned aerial vehicle considering motor faults | |
CN109884902A (en) | One kind being based on section observer unmanned plane fleet system fault detection method | |
Liu et al. | Actuator fault tolerant offshore wind turbine load mitigation control | |
Huang et al. | Dynamic infinity‐norm constrained control allocation for attitude tracking control of overactuated combined spacecraft | |
CN110568757B (en) | Self-adaptive fault-tolerant control method of electric thruster | |
Rahimi | Fault isolation and identification of a four-single-gimbal control moment gyro on-board a 3-axis stabilized satellite | |
Lan | Robust model-based fault estimation and fault-tolerant control: Towards an integration |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant |