【摘要】 本文以水以航行器一类控制系统为应用背景 ,着重研究了当故障系统状态维数n ,输入维数mf,输出维数rf 不满足mf+rf- 1≥n条件时的控制系统重构设计方法。通过在反馈回路中引入一动态补偿系统 ,将被控系统和补偿系统视为一增广系统 ,适当选择补偿系统的维数l ,使增广系统的n+l个闭环极点可任意配置 ,从而使重构后的系统性能尽量恢复到故障前系统的性能。这种方法的优点是 ,不论系统发生什么故障 ,只要故障后的系统可控、可观测 ,总可以通过引入具有适当维数的动态补偿系统 ,使增广系统的n+l个闭环极点可任意配置 ,从而达到重构后的系统性能最大程度地恢复到故障前系统的性能的目的。同时这种方法可以保证重构控制系统的稳定性。应用本文方法设计的某型水下航行器航向和横滚耦合的重构控制系统及仿真结果说明本文方法的有效性更多还原

【Abstract】 To design a reconfigurable control system for a class of autonomous underwater vehicle, a method for reconfigurable control system design is proposed under the condition m f +r f -1<n (where n,m f ,r f  represent the order of states, inputs and outputs of a fault system, respectively). A compensator with order l is injected into the feedback loop, and then the plant and the compensator is integrated into an extended system with order n+l. All n+l eigenvalues of the extended system may be freely assigned to the desired place by suitably choosing l, the order of the compensator, which makes the performance of reconfigured control system recover that of normal system. One of advantages of the method is that if the fault system were controllable and observable after any fault in plant, there always exists a compensator with suitable order which makes n+l eigenvalues of the extended system freely asignable, and then the performance of reconfigured control system may recover that of a normal system. The stability of reconfigured control system can be guaranteed. The reconfigurable control system for AUV coupled by yaw and roll system of AUVand simulation results demonstrate the effectiveness of the method proposed.更多还原