The invention discloses a steering engine fault diagnosis and fault-tolerant control integrated method, which comprises the following steps of: identifying a steering engine control system to obtain a stable nuclear expression of the system, acquiring input and output signals of the system on line, calculating through a formula to obtain a residual signal of the system, and further performing fault diagnosis on a controlled object by utilizing the residual signal. Obtaining a fault diagnosis result; then the residual signal is sent to a Youla parameter matrix, a compensation control signal is generated, and fault-tolerant control over faults can be achieved under the condition that an existing controller in a feedback control loop is not changed. The effectiveness of an existing steering engine servo system of the unmanned underwater vehicle can be greatly improved, so that the vitality of the underwater vehicle is preserved to the maximum extent, and the method has important battlefield application value.
本发明公开了一种舵机故障诊断与容错控制一体化方法,首先对舵机控制系统进行辨识得到系统的稳定核表达,在线采集系统的输入输出信号,通过公式计算得到系统的残差信号,进而利用残差信号对被控对象进行故障诊断,得到故障诊断结果;接下来将残差信号送入Youla参数矩阵,产生补偿控制信号,本发明可在不改变反馈控制环中的已存在控制器的情况下,实现对故障的容错控制。本发明可以大大提高现有无人潜航器舵机伺服系统的有效性,从而最大限度保存潜航器生命力,具有重要的战场应用价值。
Steering engine fault diagnosis and fault-tolerant control integrated method
一种舵机故障诊断与容错控制一体化方法
2022-05-24
Patent
Elektronische Ressource
Chinesisch
IPC: | B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS |
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