一类状态依赖不确定动态系统的主动容错控制

In aeronautics, astronautics, chemical engineering, vehicle, and other fields of engineering technologies, there exists a large number of key structured subsystems, which consist mostly of core components with state-dependent uncertainties or state-dependent nonlinearities. It is of great significance to do research on the problem of fault diagnosis and fault tolerant control for this class of dynamic systems with state-dependent uncertainties. Firstly, we research the problem of unified modeling framework for a class of dynamic systems, which contain not only the general time-varying parameters uncertainties, but also the state-dependent uncertainties, even the couplings of both; then by taking the multi-performance optimization into consideration, we study the robust fault diagnosis and fault tolerant control design of dynamic systems with state-dependent uncertainties; in the next, network based fault diagnosis and fault tolerant control design for dynamic systems with state-dependent uncertainties are proposed to deal with the presence of communication delay, packet loss, signal quantization error, bandwidth-limited and other limited communication capacities; finally, the above network based fault tolerant control technique is applied to the active fault tolerant control of full-car active suspensions system with state-dependent uncertainties based on CAN communication and central controller. The goal of this project is to develop systematic methodologies for robust fault diagnosis and fault tolerant control of a class of dynamic systems with state-dependent uncertainties, which can improve and complete the existing fault diagnosis and fault tolerant control theory.

在航空、航天、化工、汽车等一系列的工程技术领域中，许多核心子系统都是由具有状态依赖非线性或不确定性的核心部件组成的，研究这一类具有状态依赖不确定性动态系统的故障诊断和容错控制问题具有重要的实际意义。首先研究同时具有状态依赖不确定性，一般的时变参数不确定性以及多种不确定性耦合的复杂动态系统的统一建模问题；其次，研究基于多性能指标优化的状态依赖不确定动态系统的鲁棒故障诊断和容错控制方法；在此基础上，针对网络通讯情形下的通讯延时、数据丢失、量化误差、有限带宽等约束，研究状态依赖不确定动态系统的网络化故障诊断和容错控制的设计方法。最后，在基于CAN总线通信和中央控制器的整车悬架控制系统背景下，将上述的网络化容错控制技术应用到具有状态依赖不确定性的整车悬架系统的主动容错控制器设计中。本项目的宗旨是建立一套完整的基于状态依赖不确定动态系统的鲁棒故障诊断以及容错设计的方法，完善现有的故障诊断和容错控制理论体系。

本项目以动态系统中存在的状态依赖参数不确定性和状态依赖输入扰动为切入点，开展了传统点对点通讯和网络通讯情形下复杂系统的故障诊断和容错控制研究，旨在建立一套完整的基于状态依赖不确定动态系统的鲁棒故障诊断以及容错控制技术的理论和方法。通过考虑状态依赖形式的输入扰动和状态依赖参数不确定性，建立了更具有一般性的状态依赖不确定系统模型。在该研究框架下，首先研究了网络通讯受限情形下的随机切换系统、非线性系统、2-D系统的故障检测问题，建立了状态依赖不确定系统的故障检测和故障重构理论基础；随后针对航天器控制模型、Markov系统、汽车悬架系统，研究了基于故障重构观测器和基于自适应估计的主动容错控制问题；最后将状态依赖不确定系统相关故障检测和容错控制理论应用在工业领域的实际系统中，通过仿真实验验证了提出方法的有效性。