CN114047692A - Reference dynamic output feedback control method for robust fault-tolerant anti-interference model of turbofan engine - Google Patents

Reference dynamic output feedback control method for robust fault-tolerant anti-interference model of turbofan engine Download PDF

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CN114047692A
CN114047692A CN202111071432.8A CN202111071432A CN114047692A CN 114047692 A CN114047692 A CN 114047692A CN 202111071432 A CN202111071432 A CN 202111071432A CN 114047692 A CN114047692 A CN 114047692A
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interference
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estimation value
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CN114047692B (en
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陈谋
刘凡
邵书义
雍可南
李涛
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Nanjing University of Aeronautics and Astronautics
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Abstract

The invention discloses a reference dynamic output feedback control method for a robust fault-tolerant anti-interference model of a turbofan engine, which comprises the following steps: step 1, simultaneously considering actuator faults, unknown external interference and parameter uncertainty items, and constructing a turbofan engine linearization model and a reference model; step 2, designing the coupling of a state observer, an interference observer and a fault estimator by utilizing the output information and the control input information of the turbofan engine linearization model, and obtaining an interference estimation value and a fault estimation value; and 3, designing a robust fault-tolerant anti-interference dynamic output feedback controller based on the interference estimation value and the fault estimation value obtained in the step 2 and the information of the reference model constructed in the step 1. The invention can enable the turbofan engine to asymptotically track the upper expected reference track under the influence of actuator faults, external interference and parameter uncertainty.

Description

Reference dynamic output feedback control method for robust fault-tolerant anti-interference model of turbofan engine
Technical Field
The invention belongs to the technical field of aerospace, and particularly relates to a reference dynamic output feedback control method for a robust fault-tolerant anti-interference model of a turbofan engine.
Background
An aircraft engine is a highly complex and precise thermal machine that is the source of aircraft power. The turbofan engine is one of the aircraft engines, has the advantages of large thrust, high propulsion efficiency, low noise, low fuel consumption rate, long aircraft range and the like, and is widely concerned and applied. However, the turbofan engine system is a highly complex aerodynamic thermodynamic system, and has a wide operating envelope range formed by the flight altitude and the flight mach number, and the characteristics of the turbofan engine change along with changes of environmental conditions and changes of operating states (such as a maximum state, a cruise state, a rated state, an energizing state, a slow-moving state and the like) in the operating envelope range. For such a complicated and variable working process, it is impossible to ensure the normal operation without performing necessary control.
In turbofan engine system control design and research, it is important to establish accurate turbofan engine models. However, because the turbofan engine has a very complex structure, the operating environment is measured in a magic manner during the working process, and system parameters are influenced by a plurality of uncertain factors, so that an aero-engine model established by adopting any modeling technology cannot completely replace a real engine, namely the established engine model has certain uncertainty, and when a control system designed based on the engine models is applied to the real engine, the control performance of the control system may be reduced or even completely cannot reach the previous control performance. Therefore, research on model uncertainty of turbofan engines is of great significance.
Turbofan engines are subject to interference from various aspects during operation. These disturbances often degrade the control performance of the engine system and even cause instability of the actual system. Therefore, the research on the anti-interference control problem of the turbofan engine system is significant. The control method based on the disturbance observer approximates unknown external disturbance by using known system information, and then feeds back an estimated value to the controller so as to compensate the negative influence of the external disturbance on the system. Compared with the traditional interference suppression method, the interference observer does not need to establish an accurate mathematical model for the unknown signal and has simple design, so that a large amount of mathematical calculations are avoided during estimation, and the requirement of real-time property is favorably met. Actuator faults are inevitable problems in practical engineering application, and factors such as complex flight conditions, high temperature and high pressure and the like generally cause abrasion or aging of an engine actuator, so that the working efficiency of the actuator is reduced, and the control performance of an engine is reduced. In addition, due to the influence of factors such as noise, interference, sensor aging and the like, the state of the system cannot be accurately measured or even can not be measured, and the condition feedback design is premised on the fact that all state information of the system needs to be acquired, which brings great difficulty to the design of the controller. In summary, in order to improve the robustness and safety of the turbofan engine system, when the robust controller design is performed on the turbofan engine, the influence of the undeterminable state, the actuator fault, the unknown external interference and the uncertain modeling need to be considered at the same time.
Disclosure of Invention
Aiming at the problem of robust control of the turbofan engine, the invention aims to provide a reference dynamic output feedback control method of a robust fault-tolerant anti-interference model of the turbofan engine, so that the turbofan engine can stably track an expected reference track signal under the influence of actuator faults and unknown external interference.
In order to achieve the purpose, the invention adopts the following technical scheme:
a reference dynamic output feedback control method for a robust fault-tolerant anti-interference model of a turbofan engine comprises the following steps:
step 1, simultaneously considering actuator faults, unknown external interference and parameter uncertainty items, and constructing a turbofan engine linearization model and a reference model;
step 2, designing the coupling of a state observer, an interference observer and a fault estimator by utilizing the output information and the control input information of the turbofan engine linearization model, and obtaining an interference estimation value and a fault estimation value;
and 3, designing a robust fault-tolerant anti-interference dynamic output feedback controller based on the interference estimation value and the fault estimation value obtained in the step 2 and the information of the reference model constructed in the step 1.
In the step 1, considering actuator faults, unknown external interference and parameter uncertainty items, a turbofan engine linearization model is described as follows:
Figure BDA0003260501640000021
z(t)＝[C1+ΔC1(t)]x(t)+D[u(t)+f(t)]
y(t)＝C2x(t)
wherein x (t) ═ Δ nL△nH)TAs an unmeasurable state variable,. DELTA.nLIndicating an increase in fan speed, i.e. an increase in low-pressure speed, DeltanHRepresenting the compressor speed increment of the engine, namely the high-pressure speed increment; u (t) ═ Δ Wfb △A8)TRepresents the control input variable, Δ W, of the systemfbAnd Δ A8Respectively representing the main fuel oil change increment and the tail nozzle area change increment; z (t) is controlled output, and the delta pi represents a turbine pressure drop ratio, namely the ratio of the turbine outlet pressure to the total fan inlet pressure; y (t) ═ Δ nHIs the measurement output; f (t) is a time-varying but bounded rate of change actuator failure; d (t) is a time-varying external interference; a, Bd，C1，C2And D are known appropriate dimensional matrices, Δ A (t) and Δ C1(t) is a parameter uncertainty term and satisfies Δ a (t) MaFa(t)NaAnd Δ C1＝M1cF1c(t)N1cWherein M isa，Na，M1cAnd N1cIs a known matrix of appropriate dimensions, Fa(t) and F1c(t) represents an uncertainty term and satisfies Fa(t)TFa(t) is less than or equal to I and F1c(t)TF1c(t)≤I；
According to the structure and order of the turbofan engine linearization model, consider the following reference model:
Figure BDA0003260501640000031
in the formula, xm(t) and r (t) are the state of the reference model and the reference input, respectively, AmAnd BmIs a known parameter matrix and meets the desired engine performance.
The control target of the invention is to combine the control strategy of a multi-approximator and design a robust fault-tolerant anti-interference dynamic output feedback controller, so that the turbofan engine can asymptotically track an upper expected reference track under the influence of actuator faults and external interference and meet the requirement of I2-l∞And (4) performance.
The step 2 comprises the following steps:
2.1, designing a state observer to estimate the state information which cannot be measured in the turbofan engine system by means of output measurement, interference estimation value and fault estimation value;
2.2, designing an interference observer to estimate a true value of the interference by means of the measurement output, the state estimation value and the fault estimation value;
and 2.3, aiming at the sudden actuator fault condition, designing a fault estimator to estimate fault information by means of the measurement output, the state estimation value and the interference estimation value.
In step 2.1, the following state observer is designed with the help of output measurement, interference estimation value and fault estimation value:
Figure BDA0003260501640000032
Figure BDA0003260501640000033
where L is the gain matrix to be designed,
Figure BDA0003260501640000034
is an estimate of the system state x (t),
Figure BDA0003260501640000035
is an estimate of the actuator fault f (t),
Figure BDA0003260501640000036
is an estimate of interference d (t).
In step 2.2, with the help of the measurement output, the state estimation value and the fault estimation value, the following disturbance observer is designed:
Figure BDA0003260501640000037
Figure BDA0003260501640000038
in the formula, σ1(t) is the state of the disturbance observer, LdIs the disturbance observer gain to be designed.
In step 2.3, the following fault estimator is designed by means of measurement output, state estimation value and interference estimation value according to the sudden fault condition of the actuator:
Figure BDA0003260501640000041
Figure BDA0003260501640000042
in the formula, σ2(t) is an auxiliary state variable, LfIs the fault estimator gain to be designed.
In the step 3, the robust fault-tolerant anti-interference dynamic output feedback controller is designed as
Figure BDA0003260501640000043
In the formula, K1And K2Control gain for model reference, KeCompensating the gain for the interference to be designed, ua(t) is a dynamic output feedback controller designed to
ua(t)＝K3xa(t)
Figure BDA0003260501640000044
In the formula, xa(t) is an intermediate auxiliary variable, K3For controller gain, AaAnd BaFor the controller parameter to be designed, xa(t) is an intermediate auxiliary variable.
Has the advantages that: according to the invention, a state observer is introduced by means of the measurement output of a turbofan engine system, so that an interference observer and a fault estimator are designed to simultaneously estimate unknown interference and actuator faults, and a composite fault-tolerant anti-interference dynamic output feedback controller is constructed by combining the interference observer control theory, fault diagnosis and control theory to solve the problem of robust fault-tolerant anti-interference control of the turbofan engine with actuator faults and external interference. Through verification, the robust fault-tolerant anti-interference dynamic output feedback controller designed by the invention can track the upper reference model signal. The invention can effectively solve the problem of robust fault-tolerant anti-interference control of the turbofan engine in the field of multivariable control.
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FIG. 1 is a flow chart of the system control of the present invention.
Detailed Description
The invention is further explained below with reference to the drawings.
The system control flow chart of the invention is shown in fig. 1. The reference dynamic output feedback control method of the turbofan engine robust fault-tolerant anti-interference model specifically comprises the following steps:
1. system model
For the turbofan engine linear state variable model as follows:
Figure BDA0003260501640000051
wherein x (t) ═ Δ nL △nH)TAs an unmeasurable state variable,. DELTA.nLIndicating an increase in fan speed, i.e. an increase in low-pressure speed, DeltanHRepresenting the compressor speed increment of the engine, namely the high-pressure speed increment; u (t) ═ Δ Wfb △A8)TFor the control input variable of the system,. DELTA.WfbAnd Δ A8Respectively representing the main fuel oil change increment and the tail nozzle area change increment; z (t) is controlled output, and the delta pi represents a turbine pressure drop ratio, namely the ratio of the turbine outlet pressure to the total fan inlet pressure; y (t) ═ Δ nHIs the measurement output; f (t) is a time-varying but bounded rate of change actuator failure; d (t) is a time-varying external interference; a, Bd，C1，C2And D are known appropriate dimensional matrices, Δ A (t) and Δ C1(t) is a parameter uncertainty term and satisfies Δ a (t) MaFa(t)NaAnd Δ C1＝M1cF1c(t)N1cWherein M isa，Na，M1cAnd N1cIs a known matrix of appropriate dimensions, Fa(t) and F1c(t) is an uncertainty term and satisfies Fa(t)TFa(t) is less than or equal to I and F1c(t)TF1c(t)≤I。
Furthermore, consider the following reference model:
Figure BDA0003260501640000052
in the formula, xmAnd r (t) are the state of the reference model and the reference input, respectively, AmAnd BmIs a known parameter matrix and meets the desired engine performance.
The invention aims to design a robust fault-tolerant anti-interference controller, so that a turbofan engine system (1) can still effectively track an upper reference model signal under the influence of actuator faults and external interference. Prior to controller design, the following assumptions and lemmas are required:
assumption 1 for the reference model system, there is a matrix K1And K2So that the following conditions hold:
A+BK1＝Am BK2＝Bm (3)
suppose 2 interference d (t) and its derivatives are bounded and satisfy
Figure BDA0003260501640000053
Suppose 3 matrices B and BdSatisfies rank (B) rank (B, B)d)。
Lemma 1 for given matrices M and N of appropriate dimensions, there is an arbitrary constant e >0, such that the following inequality holds:
MTN+NTM≤εMTM+ε-1NTN (4)
theorem 2 symmetric matrix given appropriate dimensions
Figure BDA0003260501640000061
And
Figure BDA0003260501640000062
matrix of appropriate dimensions
Figure BDA0003260501640000063
And
Figure BDA0003260501640000064
if any matrix F satisfies FTF ≦ I for an arbitrary constant α>0, the following inequality holds;
Figure BDA0003260501640000065
2. robust fault-tolerant anti-interference controller design
Since the state information of the turbofan engine system (1) is not measurable, a state observer is constructed with the aid of the measurement outputs as follows:
Figure BDA0003260501640000066
where L is the gain matrix to be designed,
Figure BDA0003260501640000067
is an estimate of the system state x (t),
Figure BDA0003260501640000068
is an estimate of the actuator fault f (t),
Figure BDA0003260501640000069
is an estimate of interference d (t).
Further, with the state estimation and measurement output, the following disturbance observer is designed:
Figure BDA00032605016400000610
while the fault estimator can be designed to:
Figure BDA00032605016400000611
in the formula, σ1(t) and σ2(t) is an auxiliary state variable, LdIs the disturbance observer gain to be designed, LfIs the fault estimator gain to be designed.
First, for normal systems, a reference model-based controller can be designed to
un(t)＝K1xm(t)+K2r(t) (9)
In the formula, K1And K2Is chosen to satisfy hypothesis 1.
Since the system is controllable, the controller (9) can stabilize the nominal system. However, for turbofan engine systems (1) with disturbances and actuator failures, conventional controllers do not ensure that the system (1) achieves the desired performance due to the effects of the disturbances and failures. Therefore, when the system has actuator failure, a composite robust fault-tolerant anti-interference controller is established as
Figure BDA0003260501640000071
In the formula, KeCompensating the gain for interference and satisfying the assumption 3, ua(t) is a dynamic output feedback controller designed to
Figure BDA0003260501640000072
In the formula, xa(t) is an intermediate auxiliary variable, K3For controller gain, AaAnd BaFor the controller parameter to be designed, xa(t) is an intermediate auxiliary variable.
Order to
Figure BDA0003260501640000073
For state estimation error, the model tracking error is em(t)＝x(t)-xm(t) interference observation error of
Figure BDA0003260501640000074
Error of fault estimation is
Figure BDA0003260501640000075
Then
The state estimation error dynamics is:
Figure BDA0003260501640000076
the interference estimation error system is:
Figure BDA0003260501640000077
the fault estimation error system is as follows:
Figure BDA0003260501640000078
the state tracking error system is:
Figure BDA0003260501640000081
since the system fault can be obtained by the observer (6), the tracking error of the controlled output is
Figure BDA0003260501640000082
Order to
Figure BDA0003260501640000083
The combination of the vertical type (11) to the formula (16) can obtain an augmentation system:
Figure BDA0003260501640000084
in the formula (I), the compound is shown in the specification,
Figure BDA0003260501640000085
Figure BDA0003260501640000086
and G2＝[△C1(t) 0 0]。
The invention researches the robust control problem of the turbofan engine system with actuator failure and unknown external interference by means of a multi-approximator control strategy. The control objective is to design a robust fault-tolerant anti-interference controller to ensure that the augmentation system (17) meets the following properties:
(1) (asymptotic stability) when δ (t) is 0, the system (17) is asymptotically stable;
(2)(l2-l∞performance) zero initial conditions, system17) Satisfies the following conditions
Figure BDA0003260501640000087
Wherein gamma is>0 represents l2-l∞Performance index.
From the above analysis and discussion, the following conclusions are reached:
conclusion 1 consider an uncertain turbofan engine system (1) with actuator failure and unknown external disturbances, design a state observer (6), a disturbance observer (7), a failure estimator (8), and a robust fault tolerant anti-jamming dynamic output feedback controller (10-11). For a given gamma0>0, if there is a matrix P>0, observer gain L, Ld，LfSo that the following matrix inequality holds:
Figure BDA0003260501640000091
Figure BDA0003260501640000092
the closed loop system (17) is asymptotically stable and satisfies l2-l∞The performance, i.e. the system (1), can asymptotically track the expected state of the upper reference model.
And (3) proving that: selecting the Lyapunov function as
V(t)＝ξT(t)Pξ(t) (21)
The derivative along time is
Figure BDA0003260501640000093
In the formula, ζ (t) ═ ξT(t) δT(t)]T，
Figure BDA0003260501640000094
First, according to the condition (19) and Schur complementary theory, it is found that when δ (t) is 0
Figure BDA0003260501640000095
Based on the lyapunov principle, the system (15) is asymptotically stable when δ (t) is 0.
Next, it is to be demonstrated that under zero initial conditions, the system is2-l∞And (4) performance. The following performance indicator function is designed.
Figure BDA0003260501640000096
Wherein gamma is0>0. Then it is determined that,
Figure BDA0003260501640000101
in the formula (I), the compound is shown in the specification,
Figure BDA0003260501640000102
according to the condition (19), Φ can be obtained1<0 holds, so when t → ∞ J (∞)<0. Thus, it is known that
Figure BDA0003260501640000103
On the other hand, according to the condition (20), Schur supplement theory was used to obtain
Figure BDA0003260501640000104
In the formula (I), the compound is shown in the specification,
Figure BDA0003260501640000105
since δ (t) is energy-bounded, it suffices
Figure BDA0003260501640000106
Based on (26) and (27), it can be seen that
Figure BDA0003260501640000107
Then we can get
Figure BDA0003260501640000108
Namely, it is
Figure BDA0003260501640000109
Wherein
Figure BDA00032605016400001010
Thus, when the conditions (19-20) are established, the system (17) is asymptotically stable and satisfies l2-l∞And (4) performance. And (5) finishing the conclusion.
Conclusion 2 consider an uncertain turbofan engine system (1) with actuator failure and unknown external disturbances, design a state observer (6), a disturbance observer (7), a failure estimator (8), and a robust fault tolerant anti-jamming dynamic output feedback controller (10-11). For a given gamma0>0，αi>0, i-1, 2,3, if the parameter epsilon existsjJ-1, 2, …,11, positive definite matrix X>0，P1>0，P3>0，P4>0, and a matrix W1，W2，W3And W4So that the following linear matrix inequality holds:
Figure BDA0003260501640000111
Figure BDA0003260501640000112
Figure BDA0003260501640000113
in the above formula, the first and second carbon atoms are,
Figure BDA0003260501640000114
the closed loop system (17) is asymptotically stable and satisfies l2-l∞The performance, i.e. the system (1), can asymptotically track the expected state of the upper reference model. In addition, the controller parameters are
Figure BDA0003260501640000115
Ba＝(P1-X-1)-1W2，K3＝W1X-1，
Observer gain L ═ P3 -1W3，
Figure BDA0003260501640000121
And (3) proving that: from conclusion 1, it can be seen that if the conditions (19-20) are true, then the closed loop system is asymptotically stable and satisfies l2-l∞And (4) performance. Order to
Figure BDA0003260501640000122
H＝[Bd B]Defining a positive definite symmetric matrix as follows:
Figure BDA0003260501640000123
the inequality condition (19) is rewritable according to the parameter matrix of the system (17)
Figure BDA0003260501640000124
In the formula (I), the compound is shown in the specification,
Θ'11＝sym{P1[A+△A(t)]-P2BaC2},Θ'12＝P1BK3-P2Aa-[A+△A(t)]TP2+(BaC2)TP2,
Figure BDA0003260501640000125
Figure BDA0003260501640000126
multiplying the inequality (33) by the matrix on both sides simultaneously
Figure BDA0003260501640000127
Can obtain the product
Figure BDA0003260501640000128
In the formula (I), the compound is shown in the specification,
Θ”11＝sym{(P1-P2)[A+△A(t)]+(P1-P2)BK3},
Figure BDA0003260501640000131
Figure BDA0003260501640000132
define matrix X ═ (P)1-P2)-1Obtained by the condition (31), P2＝P1-X-1>0. Then, the left and right sides of the inequality (34) are simultaneously multiplied by the matrix diag { X, I, I, I, I }, and the uncertainty item is substituted into (34) to obtain the final product
Figure BDA0003260501640000133
In the formula (I), the compound is shown in the specification,
Θ”'11＝sym{AX+MaFa(t)NaX+BK3X},
Figure BDA0003260501640000134
Figure BDA0003260501640000135
Figure BDA0003260501640000136
by using the arguments 1 and 2, the above inequality can be rewritten as
Figure BDA0003260501640000137
In the formula (I), the compound is shown in the specification,
Figure BDA0003260501640000141
Figure BDA0003260501640000142
Figure BDA0003260501640000143
Figure BDA0003260501640000144
Figure BDA0003260501640000145
Figure BDA0003260501640000146
let W1＝K3X，W2＝P2Ba，W3＝P3L，W4＝P4LcAnd
Figure BDA0003260501640000147
meanwhile, Schur complement theory is utilized to obtain the formula (29). Thus, condition (29) may cause condition (19) in conclusion 1 to hold.
Furthermore, according to the parameter matrix of the system (17), let
Figure BDA0003260501640000148
The inequality condition (20) can be rewritten as
Figure BDA0003260501640000149
By substituting uncertain parameters into equation (37) and using arguments 1 and 2, it is possible to obtain
Figure BDA00032605016400001410
In the formula (I), the compound is shown in the specification,
Figure BDA00032605016400001411
by using Schur's complementary theory, formula (30) can be obtained. Thus, according to the demonstration of conclusion 1, when the conditions (29-30) are established, the closed loop system (17) is asymptotically stable and satisfies l2-l∞The performance, i.e. the system (1), can asymptotically track the expected state of the upper reference model. The above conclusion is confirmed.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims (7)

1. A reference dynamic output feedback control method for a robust fault-tolerant anti-interference model of a turbofan engine is characterized by comprising the following steps: the method comprises the following steps:
step 1, simultaneously considering actuator faults, unknown external interference and parameter uncertainty items, and constructing a turbofan engine linearization model and a reference model;
step 2, designing the coupling of a state observer, an interference observer and a fault estimator by utilizing the output information and the control input information of the turbofan engine linearization model, and obtaining an interference estimation value and a fault estimation value;
and 3, designing a robust fault-tolerant anti-interference dynamic output feedback controller based on the interference estimation value and the fault estimation value obtained in the step 2 and the information of the reference model constructed in the step 1.
2. The turbofan engine robust fault tolerant anti-interference model reference dynamic output feedback control method of claim 1, wherein: in the step 1, considering actuator faults, unknown external interference and parameter uncertainty items, a turbofan engine linearization model is described as follows:
Figure FDA0003260501630000011
z(t)＝[C1+ΔC1(t)]x(t)+D[u(t)+f(t)]
y(t)＝C2x(t)
wherein x (t) ═ Δ nL △nH)TAs an unmeasurable state variable,. DELTA.nLIndicating an increase in fan speed, i.e. an increase in low-pressure speed, DeltanHRepresenting the compressor speed increment of the engine, namely the high-pressure speed increment; u (t) ═ Δ Wfb △A8)TRepresents the control input variable, Δ W, of the systemfbAnd Δ A8Respectively representing the main fuel oil change increment and the tail nozzle area change increment; z (t) is controlled output, and the delta pi represents a turbine pressure drop ratio, namely the ratio of the turbine outlet pressure to the total fan inlet pressure; y (t) ═ Δ nHIs the measurement output; f (t) is a time-varying but bounded rate of change actuator failure; d (t) is a time-varying external interference; a, Bd，C1，C2And D are known appropriate dimensional matrices, Δ A (t) and Δ C1(t) is a parameter uncertainty term and satisfies Δ a (t) MaFa(t)NaAnd Δ C1＝M1cF1c(t)N1cWherein M isa，Na，M1cAnd N1cIs a known matrix of appropriate dimensions, Fa(t) and F1c(t) represents an uncertainty term and satisfies Fa(t)TFa(t) is less than or equal to I and F1c(t)TF1c(t)≤I；
According to the structure and order of the turbofan engine linearization model, consider the following reference model:
Figure FDA0003260501630000012
in the formula, xm(t) and r (t) are the state of the reference model and the reference input, respectively, AmAnd BmIs a known parameter matrix and meets the desired engine performance.
3. The turbofan engine robust fault tolerant anti-interference model reference dynamic output feedback control method of claim 1, wherein: the step 2 comprises the following steps:
2.1, designing a state observer to estimate the state information which cannot be measured in the turbofan engine system by means of output measurement, interference estimation value and fault estimation value;
2.2, designing an interference observer to estimate a true value of the interference by means of the measurement output, the state estimation value and the fault estimation value;
and 2.3, aiming at the sudden actuator fault condition, designing a fault estimator to estimate fault information by means of the measurement output, the state estimation value and the interference estimation value.
4. The turbofan engine robust fault tolerant anti-interference model reference dynamic output feedback control method of claim 3, wherein: in step 2.1, the following state observer is designed with the help of output measurement, interference estimation value and fault estimation value:
Figure FDA0003260501630000021
Figure FDA0003260501630000022
where L is the gain matrix to be designed,
Figure FDA0003260501630000023
is an estimate of the system state x (t),
Figure FDA0003260501630000024
is an estimate of the actuator fault f (t),
Figure FDA0003260501630000025
is an estimate of interference d (t).
5. The turbofan engine robust fault tolerant anti-interference model reference dynamic output feedback control method of claim 3, wherein: in step 2.2, with the help of the measurement output, the state estimation value and the fault estimation value, the following disturbance observer is designed:
Figure FDA0003260501630000026
Figure FDA0003260501630000027
in the formula, σ1(t) is the state of the disturbance observer, LdIs the disturbance observer gain to be designed.
6. The turbofan engine robust fault tolerant anti-interference model reference dynamic output feedback control method of claim 3, wherein: in step 2.3, the following fault estimator is designed by means of measurement output, state estimation value and interference estimation value according to the sudden fault condition of the actuator:
Figure FDA0003260501630000031
Figure FDA0003260501630000032
in the formula, σ2(t) is an auxiliary state variable, LfIs the fault estimator gain to be designed.
7. The turbofan engine robust fault tolerant anti-interference model reference dynamic output feedback control method of claim 1, wherein: in the step 3, the robust fault-tolerant anti-interference dynamic output feedback controller is designed as
Figure FDA0003260501630000033
In the formula, K1And K2Control gain for model reference, KeCompensating the gain for the interference to be designed, ua(t) is a dynamic output feedback controller designed to
ua(t)＝K3xa(t)
Figure FDA0003260501630000034
In the formula, xa(t) is an intermediate auxiliary variable, K3For controller gain, AaAnd BaFor the controller parameter to be designed, xa(t) is an intermediate auxiliary variable.
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