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针对一类执行器故障不确定离散重复过程,提出一种有限频率范围的迭代学习容错控制算法.通过定义故障系数矩阵和输出跟踪系统的等价二维模型,沿故障系统的时间轴和批次轴设计迭代学习被动容错控制器,以线性矩阵不等式形式分别给出基于KYP引理的全频、分频区域重复控制系统稳定的充分必要条件,同时保证故障系统在时域和频域范围内的容错性能.最后,以重复注塑过程的注射速度控制仿真验证了所提出分频控制算法的有效性.
In order to solve the uncertain discrete iterative process of a class of actuator faults, an iterative learning fault tolerant control algorithm with finite frequency range is proposed. By defining the fault coefficient matrix and the equivalent two-dimensional model of the output tracking system along the time axis of the fault system and the batch Axis design iteratively learns the passive fault tolerant controller and gives the necessary and sufficient conditions for the stability of the repetitive control system based on the KYP lemma in the form of linear matrix inequalities. At the same time, it guarantees that the fault system in the time domain and frequency domain Fault-tolerant performance.Finally, the simulation of the injection speed control in the process of repeated injection molding verifies the effectiveness of the proposed crossover control algorithm.