网络化控制系统故障检测方法仿真研究
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摘要
对任何一个实际的工业控制系统而言,在其生命周期内,故障总是不可避免会发生。故障检测技术作为提高系统稳定性和安全可靠性一种重要保障,历来就受到广泛的重视。由此,基于传统的集中式控制系统,人们提出并发展了一系列的故障检测方法。
然而,随着系统控制技术和网络通讯技术的迅猛发展,现代的工业控制系统已经不再局限于一个集中式的本地系统,它往往是由许许多多的分散于不同区域的控制部件通过共享的数字通讯网络连接而形成的庞大的分布式系统。网络的引入带来了系统的灵活性和成本的降低,也带来一些不利因素,比如时延,丢包,在模数转换时带来的量化误差等等。在这种情况下,必然对系统的故障检测提出了更高的要求。
本文首先简要介绍了进行仿真研究所采用的几个Benchmark的实例模型,故障检测系统的基本行为和性能评价指标,然后通过分别研究几种网络因素对传统的故障检测方法的影响,探索网络性能变化时故障检测系统性能变化情况并总结得到相应的规律;随后针对量化和随机丢包情形下的网络化系统的故障检测,研究并给出了满足H-infinity扰动水平的滤波器设计的充分条件,并在同等条件下与传统方法进行了对比数字仿真,同时给出了方法的适应性研究结果;最后我们对非线性条件下网络化系统的故障检测方法在Benchmark模型进行了仿真研究,同样考察了方法的适应性。
For any real industrial control systems, failure always inevitably occurs in its life cycle. Therefore, the fault detection technology, as an important guarantee for improving stability and reliability of the system, have traditionally received wide attention. As a result, a series of fault detection methods have been proposed and developed based on the traditional centralized control systems.
However, with the rapid development of the system control technology and network communication technology, modern industrial control systems is no longer confined to a centralized local system, it is often connected by the sharing digital network with many different control units spread many different regions, and become a large distributed system. The network induced has brought the system flexibility and reduced costs, but also brought some adverse factors, such as delay, packet loss, and quantization errors caused by the ADC(Analog Digital Converter). In this case, the fault detection system is bound to put forward higher requirements.
Firstly, this thesis briefly introduced several benchmark models for simulation, basic behavior of the fault detection system and the assessments of its performance. Secondly, we studied the influence of some network-induced effects to the traditional fault detection methods by several simulations on the benchmark models in different case of network performance separately, and then concluded the results. Thirdly, we researched on the method of fault detection for NCSs subject to quantization and random packet dropout, and the sufficient condition satisfied the H-infinity disturbance level for the filter design was figured out. Then the comparing simulation with traditional method and the adaptability simulation of this method were also performed. Finally, some simulations for the method of fault detection to nonlinear NCSs on benchmark models were carried out, and the adaptability results were also showed.
然而,随着系统控制技术和网络通讯技术的迅猛发展,现代的工业控制系统已经不再局限于一个集中式的本地系统,它往往是由许许多多的分散于不同区域的控制部件通过共享的数字通讯网络连接而形成的庞大的分布式系统。网络的引入带来了系统的灵活性和成本的降低,也带来一些不利因素,比如时延,丢包,在模数转换时带来的量化误差等等。在这种情况下,必然对系统的故障检测提出了更高的要求。
本文首先简要介绍了进行仿真研究所采用的几个Benchmark的实例模型,故障检测系统的基本行为和性能评价指标,然后通过分别研究几种网络因素对传统的故障检测方法的影响,探索网络性能变化时故障检测系统性能变化情况并总结得到相应的规律;随后针对量化和随机丢包情形下的网络化系统的故障检测,研究并给出了满足H-infinity扰动水平的滤波器设计的充分条件,并在同等条件下与传统方法进行了对比数字仿真,同时给出了方法的适应性研究结果;最后我们对非线性条件下网络化系统的故障检测方法在Benchmark模型进行了仿真研究,同样考察了方法的适应性。
For any real industrial control systems, failure always inevitably occurs in its life cycle. Therefore, the fault detection technology, as an important guarantee for improving stability and reliability of the system, have traditionally received wide attention. As a result, a series of fault detection methods have been proposed and developed based on the traditional centralized control systems.
However, with the rapid development of the system control technology and network communication technology, modern industrial control systems is no longer confined to a centralized local system, it is often connected by the sharing digital network with many different control units spread many different regions, and become a large distributed system. The network induced has brought the system flexibility and reduced costs, but also brought some adverse factors, such as delay, packet loss, and quantization errors caused by the ADC(Analog Digital Converter). In this case, the fault detection system is bound to put forward higher requirements.
Firstly, this thesis briefly introduced several benchmark models for simulation, basic behavior of the fault detection system and the assessments of its performance. Secondly, we studied the influence of some network-induced effects to the traditional fault detection methods by several simulations on the benchmark models in different case of network performance separately, and then concluded the results. Thirdly, we researched on the method of fault detection for NCSs subject to quantization and random packet dropout, and the sufficient condition satisfied the H-infinity disturbance level for the filter design was figured out. Then the comparing simulation with traditional method and the adaptability simulation of this method were also performed. Finally, some simulations for the method of fault detection to nonlinear NCSs on benchmark models were carried out, and the adaptability results were also showed.
引文
[1] Jie Chen,Ron J Patton. Roust Model-Based Fault Diagnosis for Dynamic Systems[M],1999:1-45.
[2]周东华,胡艳艳.动态系统的故障诊断技术[J].自动化学报,2009,35(6):748-758.
[3] Zhang W,Branicky M S,Phillips S M. Stability of networked control systems[J]. IEEE Control System Magazine,2001,21(1):84-99.
[4]吕明.网络控制系统的故障检测与诊断[D].南京理工大学,2007:6-9.
[5]王永强,叶昊,王桂增.网络化控制系统故障检测技术的最新进展[J].控制理论与应用,2009,26(4):400-409.
[6] Hao Ye,S.X.Ding. Fault Detection of Networked Control Systems with Networked induced Delays[C]. 8th International Conference on Control,Automation,Robotics and Vision, Kunming,China,2004:294-297.
[7] Fuwen Yang, Zidong Wang, Y. S. Hung. H∞control for Networked System with Random Communication Delays[J]. IEEE Transactions on Automatic Control,2006 ,51(3): 511-518.
[8] Seiler P, Sengupta R. An H∞approach to networked control[J]. IEEE Transactions on Automatic Control,2005, 50(3): 356-364.
[9]刘云霞,钟麦英.基于等价空间的网络控制系统故障检测问题研究[J].系统工程与电子技术, 2006,28(10):1553-1555,1605.
[10]王克亮.网络控制系统故障诊断技术的研究[D] .南京理京大学, 2008:11-13.
[11] Mao Z H, Jiang B. Fault estimation and accommodation for networked control system with transfer delay[J]. Acta Automatica Sinica ,2007 33(7):738-743.
[12]陈雨,张颖伟.基于观测器的网络控制系统的故障检测[J].控制工程,2007, 14(51):120-125.
[13]程利民,孔力,马长林.网络化控制系统故障诊断算法研究[J].计算机工程与应用,2007,43(24):223-225.
[14]吕明,吴晓蓓,陈庆伟.基于异步动态系统的网络控制系统故障检测[J].控制与决策, 2008 23(3): 325– 329.
[15] Zhang P, Ding S X, Frank P M, et al. Fault detection of networked control systems with missing measurements[C].Proceedings of the 5th Asian Control Conference. Melbourne, Australia, IEEE, 2004: 1258– 1263.
[16] Wang Y Q, Ding S X, Zhang P, et al. Fault detection of networked control systems with packet dropout[C]. Proceedings of IFAC World Congress 2008, Korea, IFAC, 2008: 8884– 8889.
[17] Steven X Ding. Model-Based Fault Diagnosis techniques[M]. Springer ,2008:1-114.
[18]刘云霞,丁强.网络控制系统故障诊断滤波器设计的LMI方法[J].山东大学学报, 2005,35(3):63-67
[19]张永,方华京.基于随机丢包条件下网络化系统的故障检测滤波器设计[J].华中科学大学学报(自然科学版),2009,37(1):86-89.
[20] Yugang Niu, Tinggang Jia, Xingyu Wang. Output-feedback control design for NCSs subject to quantization [J]. Information Science, 2009,179(1):3804–3813.
[21] M. Zhong, H. Ye, P. Shi. Fault detection for Markovian jump systems[J] .IEEE Proc.-Control Theory Appl,2005,152(4):398-402.
[22] Bin Tang,,Guoping Liu. State Feedback Controller Design for Networked Control System with Random Network-Induced Delay and Packet Loss[C]. Proceedings of the 2007 IEEE International Conference on Networking, Sensing and Control,2007: 798-802.
[23] H. Gao, T. Chen. A new approach to quantized feedback control systems[J]. Automatica ,2008 ,44(1): 534–542.
[24] Wen-An Zhang, Li Yu, Hongbo Song. H∞filtering of networked discrete-time systems with random packet losses[J]. Information Sciences,2009,179(1):3944–3955
[25] Huajing Fang, Hao Ye, Maiying Zhong.Fault diagnosis of networked control systems[J]. Annual Reviews in Control ,2007,31(1): 55–68.
[26] Maiying Zhong, Steven X. Ding, James Lam. An LMI approach to design robust fault detection filter for uncertain LTI systems[J]. Automatica, 2003 ,39(1):543– 550.
[27] X. Fang, J. Wang.Stochastic observer-based guaranteed cost control for networkedcontrol systems with packet dropouts[J]. IET Control Theory Appl, 2008, 2(11):980–989.
[28]杜运成,石红瑞,杨晓波.控制系统故障诊断方法综述[J].工业仪表及自动化装置,2008,5(1): 9-13.
[29] J Gerlter. Fault Detection and Isolation using Parity Relations[J]. Control Eng. Practice,1997 5(5):653-661.
[30] Wang Yong-Qiang,Ye Hao,Ding X Steven. Fault Detection of Networked Control Systems Based on Optimal Robust Detection Filter[J]. Acta Automatica Sinica. 2008,34(12):1534-1539.
[31] Wen-An Zhang,Li Yu. Modelling and control of networked control systems with both network-induced delay and packet-dropout[J]. Automatica,2008,44(1): 3206-3210.
[32] Xiao He, Zidong Wang, D H Zhou. Network-based fault detection with incomplete measurements[J]. International Journal of Adaptive Control and Signal Processing, 2009,23(1):737-756.
[33] P Zhang, H Ye,S X Ding. On the relationship between parity space H2 approaches to fault Detection[J]. Systems & Control Letters,2006,55(1):94-100.
[34] Yongqiang Wang, Hao Ye, Steven X Ding. Residual generation and evaluation of networked control systems subject to random packet dropout[J]. Automatica, 2009,45(1):2427-2434.
[35] Xiao He, Zidong Wang, D H Zhou. Robust fault detection for networked control systems with communication delay and data missing[J]. Automatica,2009 ,45(1): 2634-2639.
[36]何潇,王子栋,周东华.带观测时滞和丢失的网络化系统的故障检测[J].控制工程,2008,15(2):189-191.
[37]郑英,方华京,谢林柏.具有随机时延的网络化控制系统基于等价空间的故障诊断[J].信息与控制,2003,32(2):155-159.
[38] Edward J Davison. Benchmark Problems for Control System Design[M].IFAC,1990,15-17,41-43.
[39] Chen Peng, Dong Yue,Engang Tian.Observer-based fault detection for networkedcontrol systems with network Quality of Services[J]. Applied Mathematical Modelling,2010,34(1) :1653–1661.
[40]朱其新,胡寿松.网络控制系统的分析与建模[J].信息与控制, 2003, 32(1):5-13.
[41] X. He, Z.D. Wang, D.H. Zhou. Networked fault detection with random communication delays and packet losses[J]. Int. J. Syst. Science,2008,39(11): 1045-1054.
[42] X. He, Z.D. Wang, Y.D. Ji, D.H. Zhou. Network-based fault detection for discrete-time state-delay systems: a new measurement model[J]. Int. J. Adapt. Control Signal Process,2008,22(1): 510-528.
[43]张永.非线性随机NCSs的稳定性分析与故障检测[D].华中科技大学,2010:11-85.
[44]张金仙,蔡逢煌,王武.一类具有量化误差的网络化系统的H-/H∞故障检测[J].东南大学学报(自然科学版),2010,40(1):255-260.
[2]周东华,胡艳艳.动态系统的故障诊断技术[J].自动化学报,2009,35(6):748-758.
[3] Zhang W,Branicky M S,Phillips S M. Stability of networked control systems[J]. IEEE Control System Magazine,2001,21(1):84-99.
[4]吕明.网络控制系统的故障检测与诊断[D].南京理工大学,2007:6-9.
[5]王永强,叶昊,王桂增.网络化控制系统故障检测技术的最新进展[J].控制理论与应用,2009,26(4):400-409.
[6] Hao Ye,S.X.Ding. Fault Detection of Networked Control Systems with Networked induced Delays[C]. 8th International Conference on Control,Automation,Robotics and Vision, Kunming,China,2004:294-297.
[7] Fuwen Yang, Zidong Wang, Y. S. Hung. H∞control for Networked System with Random Communication Delays[J]. IEEE Transactions on Automatic Control,2006 ,51(3): 511-518.
[8] Seiler P, Sengupta R. An H∞approach to networked control[J]. IEEE Transactions on Automatic Control,2005, 50(3): 356-364.
[9]刘云霞,钟麦英.基于等价空间的网络控制系统故障检测问题研究[J].系统工程与电子技术, 2006,28(10):1553-1555,1605.
[10]王克亮.网络控制系统故障诊断技术的研究[D] .南京理京大学, 2008:11-13.
[11] Mao Z H, Jiang B. Fault estimation and accommodation for networked control system with transfer delay[J]. Acta Automatica Sinica ,2007 33(7):738-743.
[12]陈雨,张颖伟.基于观测器的网络控制系统的故障检测[J].控制工程,2007, 14(51):120-125.
[13]程利民,孔力,马长林.网络化控制系统故障诊断算法研究[J].计算机工程与应用,2007,43(24):223-225.
[14]吕明,吴晓蓓,陈庆伟.基于异步动态系统的网络控制系统故障检测[J].控制与决策, 2008 23(3): 325– 329.
[15] Zhang P, Ding S X, Frank P M, et al. Fault detection of networked control systems with missing measurements[C].Proceedings of the 5th Asian Control Conference. Melbourne, Australia, IEEE, 2004: 1258– 1263.
[16] Wang Y Q, Ding S X, Zhang P, et al. Fault detection of networked control systems with packet dropout[C]. Proceedings of IFAC World Congress 2008, Korea, IFAC, 2008: 8884– 8889.
[17] Steven X Ding. Model-Based Fault Diagnosis techniques[M]. Springer ,2008:1-114.
[18]刘云霞,丁强.网络控制系统故障诊断滤波器设计的LMI方法[J].山东大学学报, 2005,35(3):63-67
[19]张永,方华京.基于随机丢包条件下网络化系统的故障检测滤波器设计[J].华中科学大学学报(自然科学版),2009,37(1):86-89.
[20] Yugang Niu, Tinggang Jia, Xingyu Wang. Output-feedback control design for NCSs subject to quantization [J]. Information Science, 2009,179(1):3804–3813.
[21] M. Zhong, H. Ye, P. Shi. Fault detection for Markovian jump systems[J] .IEEE Proc.-Control Theory Appl,2005,152(4):398-402.
[22] Bin Tang,,Guoping Liu. State Feedback Controller Design for Networked Control System with Random Network-Induced Delay and Packet Loss[C]. Proceedings of the 2007 IEEE International Conference on Networking, Sensing and Control,2007: 798-802.
[23] H. Gao, T. Chen. A new approach to quantized feedback control systems[J]. Automatica ,2008 ,44(1): 534–542.
[24] Wen-An Zhang, Li Yu, Hongbo Song. H∞filtering of networked discrete-time systems with random packet losses[J]. Information Sciences,2009,179(1):3944–3955
[25] Huajing Fang, Hao Ye, Maiying Zhong.Fault diagnosis of networked control systems[J]. Annual Reviews in Control ,2007,31(1): 55–68.
[26] Maiying Zhong, Steven X. Ding, James Lam. An LMI approach to design robust fault detection filter for uncertain LTI systems[J]. Automatica, 2003 ,39(1):543– 550.
[27] X. Fang, J. Wang.Stochastic observer-based guaranteed cost control for networkedcontrol systems with packet dropouts[J]. IET Control Theory Appl, 2008, 2(11):980–989.
[28]杜运成,石红瑞,杨晓波.控制系统故障诊断方法综述[J].工业仪表及自动化装置,2008,5(1): 9-13.
[29] J Gerlter. Fault Detection and Isolation using Parity Relations[J]. Control Eng. Practice,1997 5(5):653-661.
[30] Wang Yong-Qiang,Ye Hao,Ding X Steven. Fault Detection of Networked Control Systems Based on Optimal Robust Detection Filter[J]. Acta Automatica Sinica. 2008,34(12):1534-1539.
[31] Wen-An Zhang,Li Yu. Modelling and control of networked control systems with both network-induced delay and packet-dropout[J]. Automatica,2008,44(1): 3206-3210.
[32] Xiao He, Zidong Wang, D H Zhou. Network-based fault detection with incomplete measurements[J]. International Journal of Adaptive Control and Signal Processing, 2009,23(1):737-756.
[33] P Zhang, H Ye,S X Ding. On the relationship between parity space H2 approaches to fault Detection[J]. Systems & Control Letters,2006,55(1):94-100.
[34] Yongqiang Wang, Hao Ye, Steven X Ding. Residual generation and evaluation of networked control systems subject to random packet dropout[J]. Automatica, 2009,45(1):2427-2434.
[35] Xiao He, Zidong Wang, D H Zhou. Robust fault detection for networked control systems with communication delay and data missing[J]. Automatica,2009 ,45(1): 2634-2639.
[36]何潇,王子栋,周东华.带观测时滞和丢失的网络化系统的故障检测[J].控制工程,2008,15(2):189-191.
[37]郑英,方华京,谢林柏.具有随机时延的网络化控制系统基于等价空间的故障诊断[J].信息与控制,2003,32(2):155-159.
[38] Edward J Davison. Benchmark Problems for Control System Design[M].IFAC,1990,15-17,41-43.
[39] Chen Peng, Dong Yue,Engang Tian.Observer-based fault detection for networkedcontrol systems with network Quality of Services[J]. Applied Mathematical Modelling,2010,34(1) :1653–1661.
[40]朱其新,胡寿松.网络控制系统的分析与建模[J].信息与控制, 2003, 32(1):5-13.
[41] X. He, Z.D. Wang, D.H. Zhou. Networked fault detection with random communication delays and packet losses[J]. Int. J. Syst. Science,2008,39(11): 1045-1054.
[42] X. He, Z.D. Wang, Y.D. Ji, D.H. Zhou. Network-based fault detection for discrete-time state-delay systems: a new measurement model[J]. Int. J. Adapt. Control Signal Process,2008,22(1): 510-528.
[43]张永.非线性随机NCSs的稳定性分析与故障检测[D].华中科技大学,2010:11-85.
[44]张金仙,蔡逢煌,王武.一类具有量化误差的网络化系统的H-/H∞故障检测[J].东南大学学报(自然科学版),2010,40(1):255-260.