Dear Editor,The letter deals with the distributed state and fault estimation of the whole physical layer for cyber-physical systems(CPSs) when the cyber layer suffers from DoS attacks. With the advancement of embedded...Dear Editor,The letter deals with the distributed state and fault estimation of the whole physical layer for cyber-physical systems(CPSs) when the cyber layer suffers from DoS attacks. With the advancement of embedded computing, communication and related hardware technologies, CPSs have attracted extensive attention and have been widely used in power system, traffic network, refrigeration system and other fields.展开更多
In this paper, a new nonlinear augmented observer is proposed and applied to satellite attitude control systems. The observer can estimate system state and actuator fault simultaneously. It can enhance the performance...In this paper, a new nonlinear augmented observer is proposed and applied to satellite attitude control systems. The observer can estimate system state and actuator fault simultaneously. It can enhance the performances of rapidly-varying faults estimation. Only original system matrices are adopted in the parameter design. The considered faults can be unbounded, and the proposed augmented observer can estimate a large class of faults. Systems without disturbances and the fault whose finite times derivatives are zero piecewise are initially considered, followed by a discussion of a general situation where the system is subject to disturbances and the finite times derivatives of the faults are not null but bounded. For the considered nonlinear system, convergence conditions of the observer are provided and the stability analysis is performed using Lyapunov direct method. Then a feasible algorithm is explored to compute the observer parameters using linear matrix inequalities （LMIs）. Finally, the effectiveness of the proposed approach is illustrated by considering an example of a closed-loop satellite attitude control system. The mance in estimating states and actuator faults. It also successfully. simulation results show satisfactory perfor- shows that multiple faults can be estimated展开更多
The influence of random short time-delay to networked control systems （NCS） is changed into an unknown bounded uncertain part. Without changing the structure of the system, an Hoo states observer is designed for NCS...The influence of random short time-delay to networked control systems （NCS） is changed into an unknown bounded uncertain part. Without changing the structure of the system, an Hoo states observer is designed for NCS with short time-delay. Based on the designed states observer, a robust fault detection approach is proposed for NCS. In addition, an optimization method for the selection of the detection threshold is introduced for better tradeoff between the robustness and the sensitivity. Finally, some simulation results demonstrate that the presented states observer is robust and the fault detection for NCS is effective.展开更多
A state/event fault tree(SEFT)is a modeling technique for describing the causal chains of events leading to failure in software-controlled complex systems.Such systems are ubiquitous in all areas of everyday life,and ...A state/event fault tree(SEFT)is a modeling technique for describing the causal chains of events leading to failure in software-controlled complex systems.Such systems are ubiquitous in all areas of everyday life,and safety and reliability analyses are increasingly required for these systems.SEFTs combine elements from the traditional fault tree with elements from state-based techniques.In the context of the real-time safety-critical systems,SEFTs do not describe the time properties and important timedependent system behaviors that can lead to system failures.Further,SEFTs lack the precise semantics required for formally modeling time behaviors.In this paper,we present a qualitative analysis method for SEFTs based on transformation from SEFT to timed automata(TA),and use the model checker UPPAAL to verify system requirements’properties.The combination of SEFT and TA is an important step towards an integrated design and verification process for real-time safety-critical systems.Finally,we present a case study of a powerboat autopilot system to confirm our method is viable and valid after achieving the verification goal step by step.展开更多
The safety and reliability of mechatronics systems,particularly the high-end,large and key mechatronics equipment in service,can strongly influence on production efficiency,personnel safety,resources and environment.B...The safety and reliability of mechatronics systems,particularly the high-end,large and key mechatronics equipment in service,can strongly influence on production efficiency,personnel safety,resources and environment.Based on the demands of development of modern industries and technologies such as international industry 4.0,Made-in-China 2025 and Internet + and so on,this paper started from revealing the regularity of evolution of running state of equipment and the methods of signal processing of low signal noise ratio,proposed the key information technology of state monitoring and earlyfault-warning for equipment,put forward the typical technical line and major technical content,introduced the application of the technology to realize modern predictive maintenance of equipment and introduced the development of relevant safety monitoring instruments.The technology will play an important role in ensuring the safety of equipment in service,preventing accidents and realizing scientific maintenance.展开更多
There have been many studies on observer-based fault detection and isolation (FDI), such as using unknown input observer and generalized observer. Most of them require a nominal mathematical model of the system. Unlik...There have been many studies on observer-based fault detection and isolation (FDI), such as using unknown input observer and generalized observer. Most of them require a nominal mathematical model of the system. Unlike sensor faults, actuator faults and process faults greatly affect the system dynamics. This paper presents a new process fault diagnosis technique without exact knowledge of the plant model via Extended State Observer (ESO) and soft computing. The ESO’s augmented or extended state is used to compute the system dynamics in real time, thereby provides foundation for real-time process fault detection. Based on the input and output data, the ESO identifies the un-modeled or incorrectly modeled dynamics combined with unknown external disturbances in real time and provides vital information for detecting faults with only partial information of the plant, which cannot be easily accomplished with any existing methods. Another advantage of the ESO is its simplicity in tuning only a single parameter. Without the knowledge of the exact plant model, fuzzy inference was developed to isolate faults. A strongly coupled three-tank nonlinear dynamic system was chosen as a case study. In a typical dynamic system, a process fault such as pipe blockage is likely incipient, which requires degree of fault identification at all time. Neural networks were trained to identify faults and also instantly determine degree of fault. The simulation results indicate that the proposed FDI technique effectively detected and isolated faults and also accurately determine the degree of fault. Soft computing (i.e. fuzzy logic and neural networks) makes fault diagnosis intelligent and fast because it provides intuitive logic to the system and real-time input-output mapping.展开更多
The present-day stress state of the Yingxiu-Beichuan fault after the Wenchuan earthquake was re-estimated using measured in-situ stress data obtained after the Wenchuan earthquake. The results reveal that the gradient...The present-day stress state of the Yingxiu-Beichuan fault after the Wenchuan earthquake was re-estimated using measured in-situ stress data obtained after the Wenchuan earthquake. The results reveal that the gradient coefficients of principal stresses versus depth decrease from south to north along the Yingxiu-Beichuan fault, revealing that the stress level decreases from south to north. The consistency between the present-day stress levels and surface ruptures generated during the earthquake indicates that the accumulated tectonic stress beneath the Yingxiu-Beichuan fault before the Wenchuan earthquake was relieved in form of surface ruptures. This resulted in the stress remaining high in the southern section of the Yingxiu-Beichuan fault but relatively low in the northern section. Abnormal high pore pressure conditions and an extremely low frictional coefficient play important role in the interpretation of the stress field adjustment and seismic events observed after the Wenchuan earthquake along this fault, according to the estimation results using the Coulomb frictional-failure theory incorporating frictional coefficients ranging from 0.4 to 1.0. To accurately estimate the seismological hazard of the Yingxiu-Beichuan fault by analyzing fault instability using the Coulomb frictional-failure theory, much attention should be focused on the pore pressure conditions and the evolution state of the frictional coefficient under the present-day stress state.展开更多
The Wenchuan Ms8.0 earthquake occurred on the Longmenshan fault which inclines at a dip angle exceeding 60 degrees. Since most thrust earthquakes occur on faults with dip angles of about 30 degrees, it is enigmatic wh...The Wenchuan Ms8.0 earthquake occurred on the Longmenshan fault which inclines at a dip angle exceeding 60 degrees. Since most thrust earthquakes occur on faults with dip angles of about 30 degrees, it is enigmatic why the Wenchuan earthquake occurred on such a steep fault. In this study we use a simple finite element model to investigate how the stress state in the fault changes with the variation of Poisson＇s ratio. The results show that, with the Poisson＇s ratio in the fault increasing, the magnitudes of the principal stresses increase and the maximum Shear stress decrease, and, especially, the angle between the maximum principal stress and the fault plane decreases, which will enhance the driving force to overcome the frictional resistance on the fault. The increase of Poisson＇s ratio in the fault may be an important factor to affect the occurrence of the fault earthquakes with large angles between maximum principal stress and fault plane.展开更多
This study proposes a scheme for state estimation and,consequently,fault diagnosis in nonlinear systems.Initially,an optimal nonlinear observer is designed for nonlinear systems subject to an actuator or plant fault.B...This study proposes a scheme for state estimation and,consequently,fault diagnosis in nonlinear systems.Initially,an optimal nonlinear observer is designed for nonlinear systems subject to an actuator or plant fault.By utilizing Lyapunov's direct method,the observer is proved to be optimal with respect to a performance function,including the magnitude of the observer gain and the convergence time.The observer gain is obtained by using approximation of Hamilton-Jacobi-Bellman(HJB)equation.The approximation is determined via an online trained neural network(NN).Next a class of affine nonlinear systems is considered which is subject to unknown disturbances in addition to fault signals.In this case,for each fault the original system is transformed to a new form in which the proposed optimal observer can be applied for state estimation and fault detection and isolation(FDI).Simulation results of a singlelink flexible joint robot(SLFJR)electric drive system show the effectiveness of the proposed methodology.展开更多
【目的】柔性互联配电网遭遇故障停运后,通过软开关(soft open point,SOP)等设备可以快速、合理地进行功率转供或孤岛运行。然而现有研究暂未考虑柔性设备的不同控制状态对恢复结果的影响,常见孤岛预划分方法也难以确定柔性互联设备支...【目的】柔性互联配电网遭遇故障停运后,通过软开关(soft open point,SOP)等设备可以快速、合理地进行功率转供或孤岛运行。然而现有研究暂未考虑柔性设备的不同控制状态对恢复结果的影响,常见孤岛预划分方法也难以确定柔性互联设备支撑的孤岛半径和恢复优先级。针对互联设备的可行控制方式,提出了基于SOP等效模型的故障恢复策略。【方法】首先设计含多种控制方式的SOP潮流交替迭代算法,以计算恢复后的功率与电压分布。其次以SOP控制方式选择以及非预设重构为优化手段,以最小化加权运行损失为目标,得到综合考虑潮流约束与多端口SOP模式约束的恢复模型。最后针对寻优范围增加,采用协同图拉普拉斯算子的遗传算法进行求解。基于互联的双IEEE 33系统算例进行了故障后恢复效果验证。【结果】结果表明:针对不同线路停运后的拓扑变动及分布式电源出力情况,所提方法能够形成相应的非预设重构方案,并灵活调整不同位置的SOP控制方式进行协同,负荷恢复比例较重构方式提升14%。【结论】非预设网络重构带来了更高的故障后负荷恢复比例,结合优化SOP的控制状态可取得更优的恢复后电压分布,从而支撑柔性互联配电网的高供电韧性。展开更多
综合能源系统中异质能源存在品质差异,且各子系统传输特性各异,使得传统供能可靠性的评估并不完全适用于综合能源系统(integrated energy system,IES)。为此,提出一种考虑能源品质及故障多状态的综合能源系统可靠性评估方法。首先,考虑...综合能源系统中异质能源存在品质差异,且各子系统传输特性各异,使得传统供能可靠性的评估并不完全适用于综合能源系统(integrated energy system,IES)。为此,提出一种考虑能源品质及故障多状态的综合能源系统可靠性评估方法。首先,考虑用户在供能总量和供能品质两个方面的要求,提出一种预期未供应㶲指标。其次,以供能品质是否满足用户期望为判据,计及异质能源传输延迟性,对传统的供能可靠性评估指标进行修正。再次,考虑气、热系统传输过程的动态特性,建立综合能源系统的多状态转移模型。最后,通过算例仿真验证所提方法的有效性,分析故障多状态转移模型及供能可靠性指标修正对IES可靠性评估结果的影响。展开更多
A bilinear fault detection observer is proposed for a class of continuous time singular bilinear systems subject to unknown input disturbance and fault. By singular value decomposition on the original system, a biline...A bilinear fault detection observer is proposed for a class of continuous time singular bilinear systems subject to unknown input disturbance and fault. By singular value decomposition on the original system, a bilinear fault detection observer is proposed for the decomposed system via an algebraic Riccati equation, and the domain of attraction of the state estimation error is estimated. A design procedure is presented to determine the fault detection threshold. A model of flexible joint robot is used to demonstrate the effectiveness of the proposed method.展开更多
Based on uniaxial tensile and plane strain deformation tests, the effects of strain states on the stability of RA （retained austenite） in medium Mn steels, which were subjected to IA （intercritical annealing） and ...Based on uniaxial tensile and plane strain deformation tests, the effects of strain states on the stability of RA （retained austenite） in medium Mn steels, which were subjected to IA （intercritical annealing） and Q＆P （quenching and partitioning） processing, were investigated. The volume fractions of RA before and after deformation were measured at different equivalent strains. The transformation behaviors of RA were also investigated. The stability of RA differed across two different transformation stages at the plane strain state： the stability was much lower in the first stage than in the second stage. For the uniaxial ten sion strain state, the stability of RA corresponded only to a single transformation stage. The main reason was that there were two types of transformations from RA in the medium Mn steel for the plane strain state. One type was that the martensite originated in the strain-induced stacking faults （SISF）. The other type was the strain-induced directly twin martensite at a certain equivalent strain. However, for the uniax- ial tension state, only the strain-induced twin martensite was observed. Dislocation lines and dislocation tangles were also observed in specimens deformed at different strain states. In addition, complex micro- structures of stacking faults and lath-like phases were observed within a grain at the plane strain state.展开更多
Aircraft undergoing actuator failures into under-actuation have been seldom studied in literature.Aiming at addressing actuator failures of Total Loss of Effectiveness(TLOE)as well as Partial Loss of Effectiveness(PLO...Aircraft undergoing actuator failures into under-actuation have been seldom studied in literature.Aiming at addressing actuator failures of Total Loss of Effectiveness(TLOE)as well as Partial Loss of Effectiveness(PLOE)resulting in different system actuations,reconfigurable FaultTolerant Control(FTC)is proposed for supersonic wingless missiles under actuation redundancy.The under-actuated system of TLOE failure patterns is solved by transformation to cascade systems through a’shape variable’.Meanwhile,actuator TLOE faults of different unknown failure patterns from proper actuation to under-actuation are accommodated by a reconfigurable adaptive law on a multiple-model basis.The backstepping technique with the Extended State Observer(ESO)method adopted as a basic strategy is applied to an established symmetric coupled missile system with actuator PLOE faults,modeling errors,and external disturbances.Additionally,the nonlinear saturation characteristics of actuators are settled by an auxiliary system with the Nussbaum function technique.The stability of the control system is analyzed and proven through Lyapunov theory.Numerical simulations are implemented in the presences of aerodynamic uncertainties,gust disturbance,and actuator failures.Results demonstrate the effectiveness of the proposed method with satisfactory tracking performance and actuator fault tolerance capacity.展开更多
基金supported by the National Natural Science Foundation of China(62303273,62373226)the National Research Foundation,Singapore through the Medium Sized Center for Advanced Robotics Technology Innovation(WP2.7)
文摘Dear Editor,The letter deals with the distributed state and fault estimation of the whole physical layer for cyber-physical systems(CPSs) when the cyber layer suffers from DoS attacks. With the advancement of embedded computing, communication and related hardware technologies, CPSs have attracted extensive attention and have been widely used in power system, traffic network, refrigeration system and other fields.
基金supported by the National Basic Research Program of China(No.2012CB720003)the National Natural Science Foundation of China(No.61203151)
文摘In this paper, a new nonlinear augmented observer is proposed and applied to satellite attitude control systems. The observer can estimate system state and actuator fault simultaneously. It can enhance the performances of rapidly-varying faults estimation. Only original system matrices are adopted in the parameter design. The considered faults can be unbounded, and the proposed augmented observer can estimate a large class of faults. Systems without disturbances and the fault whose finite times derivatives are zero piecewise are initially considered, followed by a discussion of a general situation where the system is subject to disturbances and the finite times derivatives of the faults are not null but bounded. For the considered nonlinear system, convergence conditions of the observer are provided and the stability analysis is performed using Lyapunov direct method. Then a feasible algorithm is explored to compute the observer parameters using linear matrix inequalities （LMIs）. Finally, the effectiveness of the proposed approach is illustrated by considering an example of a closed-loop satellite attitude control system. The mance in estimating states and actuator faults. It also successfully. simulation results show satisfactory perfor- shows that multiple faults can be estimated
基金supported partly by the Natural Science Foundation China (70571032).
文摘The influence of random short time-delay to networked control systems （NCS） is changed into an unknown bounded uncertain part. Without changing the structure of the system, an Hoo states observer is designed for NCS with short time-delay. Based on the designed states observer, a robust fault detection approach is proposed for NCS. In addition, an optimization method for the selection of the detection threshold is introduced for better tradeoff between the robustness and the sensitivity. Finally, some simulation results demonstrate that the presented states observer is robust and the fault detection for NCS is effective.
基金supported by the National Natural Science Foundation of China(11832012)
文摘A state/event fault tree(SEFT)is a modeling technique for describing the causal chains of events leading to failure in software-controlled complex systems.Such systems are ubiquitous in all areas of everyday life,and safety and reliability analyses are increasingly required for these systems.SEFTs combine elements from the traditional fault tree with elements from state-based techniques.In the context of the real-time safety-critical systems,SEFTs do not describe the time properties and important timedependent system behaviors that can lead to system failures.Further,SEFTs lack the precise semantics required for formally modeling time behaviors.In this paper,we present a qualitative analysis method for SEFTs based on transformation from SEFT to timed automata(TA),and use the model checker UPPAAL to verify system requirements’properties.The combination of SEFT and TA is an important step towards an integrated design and verification process for real-time safety-critical systems.Finally,we present a case study of a powerboat autopilot system to confirm our method is viable and valid after achieving the verification goal step by step.
基金supported by National Natural Science Foundation of China(No.51275052)Beijing Natural Science Foundation(No.3131002)
文摘The safety and reliability of mechatronics systems,particularly the high-end,large and key mechatronics equipment in service,can strongly influence on production efficiency,personnel safety,resources and environment.Based on the demands of development of modern industries and technologies such as international industry 4.0,Made-in-China 2025 and Internet + and so on,this paper started from revealing the regularity of evolution of running state of equipment and the methods of signal processing of low signal noise ratio,proposed the key information technology of state monitoring and earlyfault-warning for equipment,put forward the typical technical line and major technical content,introduced the application of the technology to realize modern predictive maintenance of equipment and introduced the development of relevant safety monitoring instruments.The technology will play an important role in ensuring the safety of equipment in service,preventing accidents and realizing scientific maintenance.
文摘There have been many studies on observer-based fault detection and isolation (FDI), such as using unknown input observer and generalized observer. Most of them require a nominal mathematical model of the system. Unlike sensor faults, actuator faults and process faults greatly affect the system dynamics. This paper presents a new process fault diagnosis technique without exact knowledge of the plant model via Extended State Observer (ESO) and soft computing. The ESO’s augmented or extended state is used to compute the system dynamics in real time, thereby provides foundation for real-time process fault detection. Based on the input and output data, the ESO identifies the un-modeled or incorrectly modeled dynamics combined with unknown external disturbances in real time and provides vital information for detecting faults with only partial information of the plant, which cannot be easily accomplished with any existing methods. Another advantage of the ESO is its simplicity in tuning only a single parameter. Without the knowledge of the exact plant model, fuzzy inference was developed to isolate faults. A strongly coupled three-tank nonlinear dynamic system was chosen as a case study. In a typical dynamic system, a process fault such as pipe blockage is likely incipient, which requires degree of fault identification at all time. Neural networks were trained to identify faults and also instantly determine degree of fault. The simulation results indicate that the proposed FDI technique effectively detected and isolated faults and also accurately determine the degree of fault. Soft computing (i.e. fuzzy logic and neural networks) makes fault diagnosis intelligent and fast because it provides intuitive logic to the system and real-time input-output mapping.
基金supported by the China Geological Survey(No.12120114002401)Science and Technology Project(SinoP robe-06)+1 种基金Natural Science Foundation of China(No.41404080)the Central Public-Interest Scientific Institution Basal Research Fund(No.DZLXJK201404)
文摘The present-day stress state of the Yingxiu-Beichuan fault after the Wenchuan earthquake was re-estimated using measured in-situ stress data obtained after the Wenchuan earthquake. The results reveal that the gradient coefficients of principal stresses versus depth decrease from south to north along the Yingxiu-Beichuan fault, revealing that the stress level decreases from south to north. The consistency between the present-day stress levels and surface ruptures generated during the earthquake indicates that the accumulated tectonic stress beneath the Yingxiu-Beichuan fault before the Wenchuan earthquake was relieved in form of surface ruptures. This resulted in the stress remaining high in the southern section of the Yingxiu-Beichuan fault but relatively low in the northern section. Abnormal high pore pressure conditions and an extremely low frictional coefficient play important role in the interpretation of the stress field adjustment and seismic events observed after the Wenchuan earthquake along this fault, according to the estimation results using the Coulomb frictional-failure theory incorporating frictional coefficients ranging from 0.4 to 1.0. To accurately estimate the seismological hazard of the Yingxiu-Beichuan fault by analyzing fault instability using the Coulomb frictional-failure theory, much attention should be focused on the pore pressure conditions and the evolution state of the frictional coefficient under the present-day stress state.
基金supported by National Natural Science Foundation of China(No.40474013 and 40821062)the Special Research Project in Earthquake Science,China(No.200808068)
文摘The Wenchuan Ms8.0 earthquake occurred on the Longmenshan fault which inclines at a dip angle exceeding 60 degrees. Since most thrust earthquakes occur on faults with dip angles of about 30 degrees, it is enigmatic why the Wenchuan earthquake occurred on such a steep fault. In this study we use a simple finite element model to investigate how the stress state in the fault changes with the variation of Poisson＇s ratio. The results show that, with the Poisson＇s ratio in the fault increasing, the magnitudes of the principal stresses increase and the maximum Shear stress decrease, and, especially, the angle between the maximum principal stress and the fault plane decreases, which will enhance the driving force to overcome the frictional resistance on the fault. The increase of Poisson＇s ratio in the fault may be an important factor to affect the occurrence of the fault earthquakes with large angles between maximum principal stress and fault plane.
文摘This study proposes a scheme for state estimation and,consequently,fault diagnosis in nonlinear systems.Initially,an optimal nonlinear observer is designed for nonlinear systems subject to an actuator or plant fault.By utilizing Lyapunov's direct method,the observer is proved to be optimal with respect to a performance function,including the magnitude of the observer gain and the convergence time.The observer gain is obtained by using approximation of Hamilton-Jacobi-Bellman(HJB)equation.The approximation is determined via an online trained neural network(NN).Next a class of affine nonlinear systems is considered which is subject to unknown disturbances in addition to fault signals.In this case,for each fault the original system is transformed to a new form in which the proposed optimal observer can be applied for state estimation and fault detection and isolation(FDI).Simulation results of a singlelink flexible joint robot(SLFJR)electric drive system show the effectiveness of the proposed methodology.
文摘【目的】柔性互联配电网遭遇故障停运后,通过软开关(soft open point,SOP)等设备可以快速、合理地进行功率转供或孤岛运行。然而现有研究暂未考虑柔性设备的不同控制状态对恢复结果的影响,常见孤岛预划分方法也难以确定柔性互联设备支撑的孤岛半径和恢复优先级。针对互联设备的可行控制方式,提出了基于SOP等效模型的故障恢复策略。【方法】首先设计含多种控制方式的SOP潮流交替迭代算法,以计算恢复后的功率与电压分布。其次以SOP控制方式选择以及非预设重构为优化手段,以最小化加权运行损失为目标,得到综合考虑潮流约束与多端口SOP模式约束的恢复模型。最后针对寻优范围增加,采用协同图拉普拉斯算子的遗传算法进行求解。基于互联的双IEEE 33系统算例进行了故障后恢复效果验证。【结果】结果表明:针对不同线路停运后的拓扑变动及分布式电源出力情况,所提方法能够形成相应的非预设重构方案,并灵活调整不同位置的SOP控制方式进行协同,负荷恢复比例较重构方式提升14%。【结论】非预设网络重构带来了更高的故障后负荷恢复比例,结合优化SOP的控制状态可取得更优的恢复后电压分布,从而支撑柔性互联配电网的高供电韧性。
文摘综合能源系统中异质能源存在品质差异,且各子系统传输特性各异,使得传统供能可靠性的评估并不完全适用于综合能源系统(integrated energy system,IES)。为此,提出一种考虑能源品质及故障多状态的综合能源系统可靠性评估方法。首先,考虑用户在供能总量和供能品质两个方面的要求,提出一种预期未供应㶲指标。其次,以供能品质是否满足用户期望为判据,计及异质能源传输延迟性,对传统的供能可靠性评估指标进行修正。再次,考虑气、热系统传输过程的动态特性,建立综合能源系统的多状态转移模型。最后,通过算例仿真验证所提方法的有效性,分析故障多状态转移模型及供能可靠性指标修正对IES可靠性评估结果的影响。
基金This work was supported in part by National Nature Science Foundation of China (No. 60325311, 60534010, 60572070)the Funds for Creative Research Groups of China (No. 60521003)the Program for Changjiang Scholars and Innovative Research Team in University (No. IRT0421).
文摘A bilinear fault detection observer is proposed for a class of continuous time singular bilinear systems subject to unknown input disturbance and fault. By singular value decomposition on the original system, a bilinear fault detection observer is proposed for the decomposed system via an algebraic Riccati equation, and the domain of attraction of the state estimation error is estimated. A design procedure is presented to determine the fault detection threshold. A model of flexible joint robot is used to demonstrate the effectiveness of the proposed method.
基金financial support of the State Key Research and Development Program of China(Grant No.2017YFB0304404)
文摘Based on uniaxial tensile and plane strain deformation tests, the effects of strain states on the stability of RA （retained austenite） in medium Mn steels, which were subjected to IA （intercritical annealing） and Q＆P （quenching and partitioning） processing, were investigated. The volume fractions of RA before and after deformation were measured at different equivalent strains. The transformation behaviors of RA were also investigated. The stability of RA differed across two different transformation stages at the plane strain state： the stability was much lower in the first stage than in the second stage. For the uniaxial ten sion strain state, the stability of RA corresponded only to a single transformation stage. The main reason was that there were two types of transformations from RA in the medium Mn steel for the plane strain state. One type was that the martensite originated in the strain-induced stacking faults （SISF）. The other type was the strain-induced directly twin martensite at a certain equivalent strain. However, for the uniax- ial tension state, only the strain-induced twin martensite was observed. Dislocation lines and dislocation tangles were also observed in specimens deformed at different strain states. In addition, complex micro- structures of stacking faults and lath-like phases were observed within a grain at the plane strain state.
基金supported by National Defense Science and Technology Commission of China.
文摘Aircraft undergoing actuator failures into under-actuation have been seldom studied in literature.Aiming at addressing actuator failures of Total Loss of Effectiveness(TLOE)as well as Partial Loss of Effectiveness(PLOE)resulting in different system actuations,reconfigurable FaultTolerant Control(FTC)is proposed for supersonic wingless missiles under actuation redundancy.The under-actuated system of TLOE failure patterns is solved by transformation to cascade systems through a’shape variable’.Meanwhile,actuator TLOE faults of different unknown failure patterns from proper actuation to under-actuation are accommodated by a reconfigurable adaptive law on a multiple-model basis.The backstepping technique with the Extended State Observer(ESO)method adopted as a basic strategy is applied to an established symmetric coupled missile system with actuator PLOE faults,modeling errors,and external disturbances.Additionally,the nonlinear saturation characteristics of actuators are settled by an auxiliary system with the Nussbaum function technique.The stability of the control system is analyzed and proven through Lyapunov theory.Numerical simulations are implemented in the presences of aerodynamic uncertainties,gust disturbance,and actuator failures.Results demonstrate the effectiveness of the proposed method with satisfactory tracking performance and actuator fault tolerance capacity.
