Fault Diagnosis And Fault-tolerant Control Of Ship Lateral Motion Based On Data-driven

At present,as people to the attention of the Marine equipment,ship lateral motion systems have more extensive application.Because the ship will be affected by various factors of interference at the sea,make ship motion becomes more complex,make people has a higher request on the reliability and security of the system of lateral movement system.The effective implementation of the fault diagnosis and fault-tolerant control is the key to the control system can be reliable operation.Now there are many of the large industrial systems are unable to rely on traditional method to establish the precise physical models,but they can produce a large number of running state of the data,these data can reflect the operation process.Considering the factors such as actual restrictions and cost optimization,how to make the fullest use of these large amounts of data to satisfy the demands of increasing system reliability became a very important problem,which is based on data-driven fault diagnosis technology is an important aspect.Based on linear discrete time invariant of ship lateral motion control system,at first we research methods of data driven design of fault diagnosis and fault-tolerant control,this method is mainly used offline data directly identify equivalent space and vector,then build the residual signal,and implement the ship lateral movement of the system fault diagnosis of abnormal condition,mainly on the ship motion system in the course of sensor and actuator fault diagnosis.On the basis of the equivalent space identified,further through a data-driven method to design the combination of fault diagnosis observer/controller/framework,the main contents include: design the state observer,it contains multiple residual channel,the channel number and the system output dimension is consistent,it can estimate system state and improve the ability of the fault diagnosis of the system;Youla parameters controller was designed on the basis of the observer,and through the matrix to realize the optimization of controller parameters,it's ready for design framework of fault-tolerant control system,in which the residual setting method is used to design the parameter matrix.The method is based on the residual data,directly to the estimate quadratic performance index function estimates,using the gradient descent method to optimize the performance of the closed-loop system.Finally,on the basis of the control framework,the method of reconstruction is proposed to make the fault-tolerant control based on data driven,this method is based on the residual data,it's also known as the residual iterative feedback tuning method.This method is doseveral experiments for closed loop system,then estimate the gradient value of the quadratic performance index function,so as to achieve fault-tolerant control purposes.Residual iterative feedback tuning method is a type of experimental method,in the case of unknown fault information,through residual data to adjust the parameters of the control system,so it is belong to data driven.In ship lateral movement system,the actuator additive fault occurs,using the method of residual iterative feedback tuning to design fault-tolerant controller.Using data driven method of residual generator can not only realize fault diagnosis function in time,and can according to the residual curve type determine the different fault types,in view of the actuator design fault-tolerant controller also make the system achieved good performance and can recover to the expectations in time.