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- 2015
采用高阶终端滑模观测器的执行器未知故障重构
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Abstract:
针对常规滑模观测器抖振现象易造成故障误判和漏判的不足,考虑实际系统故障信息未知的情形,提出了一种含自适应律修正的高阶终端滑模观测器执行器鲁棒故障重构方法。首先引入线性变换矩阵实现系统降维,确保状态估计不受干扰和故障的影响,并将观测器增益矩阵设计方法转化为线性矩阵不等式约束下的凸优化问题;其次考虑故障变化率上界未知的情形,在高阶非奇异终端滑模控制输入中添加了自适应律,确保滑模运动不受未知信息故障的影响,在有限时间内到达滑模面以实现鲁棒性,在此基础上给出了执行器故障重构的计算方法;最后以某飞控系统为例开展了仿真研究,结果表明所提方法能有效减小抖振,快速估计系统状态,自适应律在3 s内可以实现对未知故障的自适应调节,确保准确实现执行器未知故障重构。
This paper proposes a design method of high？？order terminal observer with adaptive laws for the unknown actuator fault reconstruction, which can reduce the false faults caused by the chattering effect of ordinary sliding mode observer. First, a linear transforming matrix is introduced to reduce the dimension of system, which makes the state estimation avoid the effects of disturbances and faults, meanwhile the calculating scheme of observer gains is put forward and transformed into a convex optimization under the constraints of linear matrix inequalities. Then considering the unknown information of actuator faults, an adaptive law is added to the high？？order terminal sliding mode input, making the sliding mode motion conquer the unknown faults and finish its motion within the limited time, and hence realize its robustness. Finally a simulation on a nonlinear flight control example shows the feasibility and effectiveness of the proposed method, and demonstrates that the adaptive algorithm can be adjusted with the unknown actuator faults within 3 seconds
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