【作者】 周鸾杰；

【导师】 邵克勇；

【作者基本信息】 大庆石油学院 ， 控制理论与控制工程， 2005， 硕士

【摘要】 随着科学技术的飞速发展,工业设备日趋复杂,设备运行的安全性和可靠性越来越引起人们的重视,特别是大型复杂设备,在运行过程中如果任何一个部件发生故障而不能及时处理,不仅会造成巨大的经济损失,而且可能危及人身安全,产生严重的社会影响。在生产自动化日益发展的今天,仅仅靠传统的被动维修措施已不能满足现代生产对安全性、可靠性以及平稳性操作的要求。安全性和可靠性已成为系统设计与开发的两个重要目标。 容错控制是 20 世纪 80 年代发展起来的一种旨在提高控制系统运行可靠性的控制技术。它是指系统在运行过程中一个或多个部件发生故障或即将发生故障时,通过采取有效措施,保证系统继续安全、有效、可靠运行,或以牺牲某些性能损失为代价,保证系统在规定时间内完成某预定功能。 鲁棒容错控制是目前容错控制研究的热点,它是预先设计一个鲁棒控制器,保证系统对可能出现的传感器或执行机构故障具有完整性。本文详细分析了容错控制的研究现状,着重研究了复杂系统的鲁棒容错控制问题。根据一种具有一般性的传感器和执行器失效的表示方法,研究状态空间模型描述的不确定系统、不确定时滞系统、非线性不确定系统的鲁棒容错问题。针对具有范数有界不确定参数的线性系统,采用状态反馈控制器,研究了鲁棒稳定性分析、鲁棒镇定控制器设计以及有鲁棒性能约束的容错控制器设计问题,得到了相应的结果。主要成果包括以下几个方面: 1.论述了与本文有关的背景;介绍了一些关于线性矩阵不等式、MATLABLMI 工具箱的预备知识和文中用到的一些不等式、标准 H∞控制问题以及有界实引理。 2.研究了线性不确定连续系统的鲁棒可镇定问题。利用线性矩阵不等式(LMI)方法,给出了系统在传感器和执行器失效情况下,系统鲁棒可镇定的充分条件,结果以线性矩阵不等式的形式给出。并进行了仿真研究。 3.研究了一类存在状态滞后的不确定时滞连续系统的状态反馈鲁棒稳定问题。基于线性矩阵不等式(LMI)理论和 Lyapunov 稳定性理论,给出了系统在传感器和执行器失效情况下渐近稳定的充分条件及相应的状态反馈鲁棒容错控制律的设计方法。并给出了仿真结果。 4.探讨了仅存在状态摄动的不确定非线性系统的鲁棒 H∞控制问题,给出了在传感器和执行器失效情况下此类系统的状态反馈 H∞控制问题有解的充分条件和控制器的的设计方法。并给出了仿真结果。更多还原

【Abstract】 With the rapid growing application of science and technology, the industrial equipment becomes more complicated. And the security and reliability of the equipment, especially for the large-scale complicated equipment, is attracted more and more attention. If any components fail and can’t be disposed in time when the equipment is running, it will not only result in great economic loss but also probably endanger people’s safety, which will have a bad influence in society. With the development of automatic manufacturing, it is impossible to satisfy the requirements of modern manufacturing to possess security, reliability and steadiness only by traditionally passive maintenance. The security and reliability have become two important goals of systems designing and developing. Fault-tolerant control (FTC), developed in 1980’s, is a kind of control technology which aims at improving systems reliability. It is to ensure the system running continuously with security, effectivity and reliability or performing the expected function at specified time at the cost of losing some performance by using some effective methods, when one or more than one component of the system fails or is ready to fail. Robust fault-tolerant control is the focus in the research of FTC recently. It is to design a robust controller in advance to ensure the system possessing integrity against sensor or actuator failures. In this dissertation, a detailed analysis of the current situation of study on fault-tolerant control and a discussion about the problems of fault-tolerant for complex systems are stressed. Based on a general representation of sensor and actuator failures, we study some kinds of robust fault-tolerant control problems for uncertain systems and uncertain time delay systems and uncertain nonlinear systems which are described as state-space models. Concerning the linear systems with norm-bounded uncertainties, the analysis of robust stability, the design methods of robust stabilization controller and the design of controller that guarantee certain robust performance by state feedback are investigated, and later we obtain some corresponding results. The main results of this paper are outlined as follows, 1. The background related to the subject is summarized and some preparation information on LMI and MATLABLMI toolbox and lemmas used in the dissertation and standard H∞ control problem and bounded real lemma. 2. The robust stabilization problem for time delay uncertainty continuous systems is considered. By using linear matrix inequality, a sufficient and necessary condition for the system robust stabilization against sensor and actuator failure is presented, and the results are given in terms of linear matrix inequalities. A simulation example is given finally. 3. The problem of state feedback robust stability for a class of uncertainty time delay continuous systems with state delay is studied. Based on linear matrix inequality and Lyapunov stability theory, a sufficient condition for the system to be asymptotically stable against sensor and actuator failures is presented and the corresponding design method of robust fault-tolerant control laws by state feedback is provided. An illustrative example is given to illustrate the obtained results. 4. The robust H∞ control problems of nonlinear systems with state perturbations are studied. The corresponding sufficient conditions for the solvability of H∞ control problems against sensor and actuator failures via the state feedback control, while the design methods of the controller are proposed. An illustrative example is given to illustrate the obtained results.更多还原