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当联邦滤波器故障为缓变故障或者故障幅值比较小时,传统的基于量测一致性的联邦滤波器故障检测算法由于相应的估计误差和方差同时增大,这使得算法需一定的时间后才能使这种增量大到使故障函数计算结果超出门限,因而会出现警告延迟甚至漏检现象。针对量测一致性算法的缺点,提出了改进的基于量测一致性的联邦滤波器两级故障检测算法。相比传统的基于量测一致性的故障检测算法,该方法增加了故障检测的冗余性,不仅可以区分硬故障和软故障,而且提高了故障检测的可靠性和灵敏度,使得联邦滤波器的故障检测方法更加成熟完善,这对提高整个系统的可靠性具有重要意义。仿真和实验结果表明,该方法准确度高,计算量小,便于工程实现。
When the federal filter fault is slowly changing or the fault amplitude is relatively small, the traditional federated filter fault detection algorithm based on measurement consistency increases due to the corresponding estimation error and variance, which makes the algorithm take a certain period of time This increment is so large that the result of the fault function calculation exceeds the threshold, thus causing a warning delay or even missing detection. Aiming at the shortcomings of the measurement consistency algorithm, an improved federated filter two-level fault detection algorithm based on measurement consistency is proposed. Compared with the conventional fault detection algorithm based on measurement consistency, this method increases the redundancy of fault detection, which can not only distinguish between hard faults and soft faults, but also improve the reliability and sensitivity of fault detection, Fault detection methods are more mature and perfect, which is of great significance to improve the reliability of the entire system. Simulation and experimental results show that the proposed method has high accuracy, small computation and is easy to implement.