【摘要】 针对一类具有系统建模误差,以及含传感器模型不确定项的非线性控制系统,提出了一种用于执行器故障诊断的观测器方法。观测器中引入自适应补偿项,当出现偏差后将对故障及建模不确定项进行补偿。自适应算法中采用了死区算子,增强了算法的鲁棒性。同时利用自适应律进行偏差估计。理论分析证明观测器的观测误差收敛到零。仿真结果表明了方法的有效性。更多还原

【Abstract】 An observer-based algorithm of actuator fault diagnosis is presented for a class of nonlinear control systems with plant modeling uncertainties and sensor modeling uncertainties.Adaptive compensation term is introduced to the observer to compensate the fault and modeling uncertainties when actuator bias occurs.Dead-zone operator is adopted in the adaptive algorithm to improve the algorithm’s robustness.An adaptive law is used to estimate the fault.Theoretical analysis shows that the observation error converges to zero.The simulation demonstrates the effectiveness of the proposed method.更多还原