基于衰减记忆思想的故障容错方法
|
摘要
残差χ2法难以准确检测小幅值突变故障,改进的序贯概率比检测(SPRT)方法通过迭代递推,能够检测到故障,但存在延时且对故障结束不敏感。基于此,本文给出了区分故障大小的方法,针对小幅值故障提出了一种基于衰减记忆思想的故障容错方法:当改进的SPRT方法检测到故障后,对系统进行隔离重构,用不包含故障信息的数据进行量测更新,利用衰减因数减小包含故障信息的陈旧滤波值的权重,以提高滤波精度,同时构造"伪正常"状态,使该方法能够及时判断故障结束。仿真结果表明,本文提出的方法适用于故障多发的情形,能够提高滤波精度,增强系统可靠性。
The residual chi-square test method is difficult to detect and isolate accurately,the improved SPRT( sequential probability ratio test) method can detect the fault by iterative recurrence,but there is a delay and it is not sensitive to the end of the fault. Based on this,this paper analyzes the method of differentiating the size of the fault amplitude,and proposes a fault-tolerant method based on the fading memory idea. When the improved SPRT method detects the fault,the system is isolated and reconstructed. The filter is updated with the data that does not contain the fault information,and the fading factor is used to reduce the weight of the fault information so as to improve the filtering accuracy. Meanwhile,constructing the pseudo normal state,so that the method can judge the end of the fault in time. Simulation results show that the proposed method is suitable for multiple faults,which can improve filtering accuracy and enhance system reliability.
The residual chi-square test method is difficult to detect and isolate accurately,the improved SPRT( sequential probability ratio test) method can detect the fault by iterative recurrence,but there is a delay and it is not sensitive to the end of the fault. Based on this,this paper analyzes the method of differentiating the size of the fault amplitude,and proposes a fault-tolerant method based on the fading memory idea. When the improved SPRT method detects the fault,the system is isolated and reconstructed. The filter is updated with the data that does not contain the fault information,and the fading factor is used to reduce the weight of the fault information so as to improve the filtering accuracy. Meanwhile,constructing the pseudo normal state,so that the method can judge the end of the fault in time. Simulation results show that the proposed method is suitable for multiple faults,which can improve filtering accuracy and enhance system reliability.
引文
[1]钟丽娜,刘建业,李荣冰,等. INS/SFGPS-PPP紧组合系统动态补偿滤波算法[J].仪器仪表学报,2016,37(6):1283-1289.
[2]高伟,叶攀,许伟通.改进的自适应衰减卡尔曼滤波算法[J].计算机测量与控制,2016,24(8):190-205.
[3] BRUMBACK B D,SRINATH M D. A fault-tolerant multisensor navigation system design[J]. IEEE Transactions on Aerospace and Electronic Systems,1987,23(6):738-756.
[4]张闯,赵修斌,庞春雷,等.基于SPRT的组合导航故障检测与隔离互辅算法[J].火力与指挥控制,2017,42(5):68-71.
[5] DA R. Failure detection of dynamical systems with the state chi-square test[J]. Journal of Guidance,Control,and Dynamics,1994,17(2):271-277.
[6]杨春,张磊,郭健,等.采用双状态传播卡方检验和模糊自适应滤波的容错组合导航算法[J].控制理论与应用,2016,33(4):500-511.
[7]杨镜,华冰,熊智.多源导航系统软、硬故障检测新方法研究[J].压电与声光,2013,35(5):647-652.
[8]王志胜,王道波,蔡宗琰.用于缓变故障检测的残差检验法[J].西安电子科技大学学报(自然科学版),2004,31(3):479-482.
[9] TEUNISSEN P J G. Minimal detectable biases of GPS data[J]. Journal of Geodesy,1998,72(4):236-244.
[10]刘昆朋,曾庆华.序贯概率比检验用于残差检测的一种改进方法[J].电光与控制,2009,16(8):36-39.
[11]於二军,侯明善,张拥军,等. SINS/GPS组合导航系统的修正自适应滤波方法[J].火力与指挥控制,2007,32(8):99-101.
[12]余伟,衰减记忆法滤波在捷联惯导上的应用[J].科技广场,2017(7):67-69.
[13]赵欣,张金生,刘志国,等.基于自适应滤波辅助残差χ2法的导航系统故障诊断方法[J].解放军理工大学学报(自然科学版),2012,13(5):490-496.
[14]朱庆华,李英波.伴飞卫星自主相对导航衰减记忆滤波算法[J].上海航天,2006(5):20-41.
[15]吴有龙,王晓鸣,曹鹏,等.一种改进的故障检测算法在组合导航中的应用[J].北京理工大学学报,2015,35(5):494-499.
[2]高伟,叶攀,许伟通.改进的自适应衰减卡尔曼滤波算法[J].计算机测量与控制,2016,24(8):190-205.
[3] BRUMBACK B D,SRINATH M D. A fault-tolerant multisensor navigation system design[J]. IEEE Transactions on Aerospace and Electronic Systems,1987,23(6):738-756.
[4]张闯,赵修斌,庞春雷,等.基于SPRT的组合导航故障检测与隔离互辅算法[J].火力与指挥控制,2017,42(5):68-71.
[5] DA R. Failure detection of dynamical systems with the state chi-square test[J]. Journal of Guidance,Control,and Dynamics,1994,17(2):271-277.
[6]杨春,张磊,郭健,等.采用双状态传播卡方检验和模糊自适应滤波的容错组合导航算法[J].控制理论与应用,2016,33(4):500-511.
[7]杨镜,华冰,熊智.多源导航系统软、硬故障检测新方法研究[J].压电与声光,2013,35(5):647-652.
[8]王志胜,王道波,蔡宗琰.用于缓变故障检测的残差检验法[J].西安电子科技大学学报(自然科学版),2004,31(3):479-482.
[9] TEUNISSEN P J G. Minimal detectable biases of GPS data[J]. Journal of Geodesy,1998,72(4):236-244.
[10]刘昆朋,曾庆华.序贯概率比检验用于残差检测的一种改进方法[J].电光与控制,2009,16(8):36-39.
[11]於二军,侯明善,张拥军,等. SINS/GPS组合导航系统的修正自适应滤波方法[J].火力与指挥控制,2007,32(8):99-101.
[12]余伟,衰减记忆法滤波在捷联惯导上的应用[J].科技广场,2017(7):67-69.
[13]赵欣,张金生,刘志国,等.基于自适应滤波辅助残差χ2法的导航系统故障诊断方法[J].解放军理工大学学报(自然科学版),2012,13(5):490-496.
[14]朱庆华,李英波.伴飞卫星自主相对导航衰减记忆滤波算法[J].上海航天,2006(5):20-41.
[15]吴有龙,王晓鸣,曹鹏,等.一种改进的故障检测算法在组合导航中的应用[J].北京理工大学学报,2015,35(5):494-499.