novtexmechМехатроника, автоматизация, управлениеMekhatronika, Avtomatizatsiya, Upravlenie1684-64272619-1253Commercial Publisher «New Technologies»10.17587/mau.22.625-633novtexmech-1096Research ArticleСИСТЕМНЫЙ АНАЛИЗ, УПРАВЛЕНИЕ И ОБРАБОТКА ИНФОРМАЦИИSYSTEM ANALYSIS, CONTROL AND INFORMATION PROCESSINGИдентификация дефектов в нестационарных системах на основе скользящих наблюдателейFault Identification in Non-Stationary Systems Based on Sliding Mode ObserversЗуевА. В.ZuevA. V.

Кандидат технических наук, доцент

Владивосток

Vladivostok, 690950

alvzuev@yandex.ruЖирабокА. Н.ZhirabokA. N.

Доктор технических наук, профессор

Владивосток

Zhirabok Aleksey N., Dr. of Sci., Professor

Vladivostok, 690950

 

zhirabok@mail.ruФиларетовВ. Ф.FilaretovV. F.

Доктор технических наук, профессор

Владивосток

Vladivostok, 690014

filaretov@inboks.ruПроценкоА. А.ProtsenkoA. A.

Младший научный сотрудник

Владивосток

Vladivostok, 690950

pro293133@gmail.comДальневосточный федеральный университет; Институт проблем морских технологий ДВО РАНРоссияFar Eastern Federal University; Institute of Marine Technology ProblemsRussian FederationИнститут автоматики и процессов управления ДВО РАНРоссияInstitute of Automation and Control ProcessesRussian FederationИнститут проблем морских технологий ДВО РАНРоссияInstitute of Marine Technology ProblemsRussian Federation2021011220212212625633Copyright © Commercial Publisher «New Technologies», 20212021Commercial Publisher «New Technologies»Commercial Publisher «New Technologies»https://mech.novtex.ru/jour/about/submissions#copyrightNoticehttps://mech.novtex.ru/jour/article/view/1096

Рассматривается задача идентификации дефектов в системах, описываемых нестационарными нелинейными динамическими уравнениями, в присутствии возмущений. Для решения задачи используются наблюдатели, работающие в скользящем режиме. Предлагаемый подход базируется на идее построения редуцированной модели исходной системы, обладающей избирательной чувствительностью по отношению к дефектам и возмущению и реализованной в канонической форме. Основной целью введения такой модели является возможность учета нестационарности системы. Кроме того, за счет модели такого вида удается ослабить ограничения, при которых для исходной системы могут быть построены скользящие наблюдатели. Изложенная теория иллюстрируется практическим примером.

The paper is devoted to the problem of fault identification in technical systems described by non-stationary nonlinear dynamic equations under unmatched disturbances. To solve the problem, sliding mode observers are used. The suggested ap- proach is based on the model of the original system of minimal dimension having different sensitivity to the faults and distur- bances in contrast to the traditional approaches to sliding observer design which are based on the original system. Additionally it is assumed that matrices describing such a model have the canonical form and are constant. The main purpose of using such a model is possibility to take into account the non-stationary feature of the systems. As a result, the model has stationary dynamic and non-stationary additional term that allows to promote sliding mode design. Besides, the new approach to design sliding mode observers is suggested. The peculiarity of this approach is that it does not require that original systems should be minimum phase and detectable. According to the traditional approaches stability of the observer is provided by minimum phase and detectability properties. In our approach, stability of the observer is achieved due to the canonical form of the matrices describing the model. In addition, the matching condition is not necessary. This allows to extend a class of systems for which sliding mode observers can be designed. Theoretical results are illustrated by practical example of electric servoactuator.

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The authors declare that there are no conflicts of interest present.