The Research Of Integrated Fault Detection And Diagnosis And Fault-Tolerant Control With Its Application In Satellite Attitude Control

As an interdisciplinary domain between Fault Detection and Diagnosis (FDD) and Fault-Tolerant Control (FTC), Integrated Fault Detection and Diagnosis and Fault-Tolerant Control of control system enable to avoid the time-delay induced by single FDD or FTC and the absolute dependence by the results of FDD to present a benefited insurance for the long-life and reliable circulation of modern control system. Regarding satellite attitude control system as the application background, three kinds of integrated FDD and FTC algorithm are developed in this dissertation. Here is the main content in detail:First, classifying and modeling the faults for control system. Combining several actual faults of satellite attitude control system recorded in internal materials, the thesis setups the category and range of flywheel and gyro faults and builds a uniform satellite attitude control system simulation environment which is utilized in the later chapters. What is more, two simple controllers are simulated in the satellite attitude closed-loop control system provided the benchmark to validate the efficiencies of other fault-tolerant controllers that are presented in later.Second, designing the Integrated Fault Detection and Diagnosis and Fault-Tolerant Control algorithm based on the effectiveness factor and Linear Quadric Regulator (LQR). Focusing on the sensor faults, actuator faults and sensor/actuator faults, the dissertation applies measurement effectiveness factor, control effectiveness factor and measurement/control effectiveness factor respectively to express the range of system faults by using the bias-separated principle. Further, the two-stage kalman filter is used to obtain the effectiveness factor value and system estimated states are obtained. Meanwhile, a LQR controller is designed with the estimated results to accomplish the joint design of Fault Detection and Diagnosis and Fault-Tolerant Control.Third, designing the Integrated Fault Detection and Diagnosis and Fault-Tolerant Control algorithm based on IMM/EA. The faulty system is expressed by stochastic hybrid system and the location and range of faults can be determined by the IMM when the saltation occurs among the partial or whole states of the attitude estimation subsystem. Furthermore, using the dynamic part in the fault model and the output feedback or/and state feedback to assign the eigenstructure, a reconstructure controller is developed to compensate the original control system to complete the joint design of Fault Detection and Diagnosis and Fault-Tolerant Control.Finally, designing the Integrated Fault Detection and Diagnosis and Fault-Tolerant Control algorithm based on robust fault-tolerant control. The robust fault-tolerant control algorithms base on the robust model predictive control (RMPC) and H₂/H_∞are present respectively for the linear system and also a robust adaptive robust fault-tolerant control algorithm is also designed for the nonlinear system. Syncretizing the robust concept of H_∞control and the rolling optimal principle of predictive control, RMPC transforms the integrity of uncertainty control system to the problem of robust controller design for the new system model through the online updating of system model and rolling optimal. The robust adaptive fault-tolerant control enables to solve the system faults resulted by the parameter disturbances, where the system is adaptive stable by using feedback of the adaptive control Lyapunov function。...