【正文】 南通大學畢業(yè)設計 (論文 ) 20xx 年 06 月 題目 ： 基于觀測器的倒立擺系統(tǒng)最優(yōu)故障 檢測設計 南通大學杏林學院畢業(yè)設計 (論文 ) I 摘 要 倒立擺系統(tǒng)具有很強代表性，其系統(tǒng)結構與雙足機器人檢測系統(tǒng)，火箭飛行檢測系統(tǒng)和各類伺服系統(tǒng)類似 .以倒立擺為對象，開展最優(yōu)故障檢測設計研究具有重要意義 . 所謂最優(yōu)故障檢測，即尋找一個最佳方法來權衡故障靈敏度和模型不確定魯棒性。 首先，對最優(yōu)故障檢測方法進行了深入的研究 ,確定了進行設計的前提條件。然后，針對倒立擺系統(tǒng)建立其機理模型。進一步的，在得出開環(huán)系統(tǒng)模型之后，由于系統(tǒng)不穩(wěn)定性，所以采用極點配置方法來進行閉環(huán)反饋控制。最 后，搭建閉環(huán)仿真模型，確定模型的正確性和準確性，實現(xiàn)基于觀測器的倒立擺系統(tǒng)的最優(yōu)故障檢測的目的。 關鍵詞 ： 倒立擺，最優(yōu)故障檢測，故障靈敏度，極點配置 南通大學杏林學院畢業(yè)設計 (論文 ) II ABSTRACT Inverted pendulum system and biped robot, rocket, detection systems and various types of servo systems are very similar, therefore, observer based optimal fault detection design of r inverted pendulum system is of great significance. The core of the optimal fault detection is to make a trade off between fault sensitivity and robustness of model uncertainty. First, the optimal fault detection method is conducted indepth and the design prerequisite is determined. Then, according to the mechanism of inverted pendulum system, the open loop model is established. Furthermore, due to the instability of the system, pole placement method is employed to make the system stable. Finally, simulation is used to determine the correctness and accuracy of the model, and the effectiveness of the observerbased optimal fault detection method is verified. Key words: inverted pendulum, optimal fault detection, fault sensitivity, pole placement 南通大學杏林學院畢業(yè)設計 (論文 ) III 目 錄 摘 要 ........................................................................................................... I ABSTRACT .....................................................................................................II 第一章 緒論 .................................................................................................. 1 課題背景及意義 ............................................................................................................. 1 課題背景 ............................................................................................................... 1 意義及主要應用 ................................................................................................... 1 倒立擺系統(tǒng)研究現(xiàn)狀 ..................................................................................................... 2 故障檢測方法研究的現(xiàn)狀 ............................................................................................. 3 本論文主要研究內(nèi)容及章節(jié)安排 ................................................................................. 4 第二章 最優(yōu)故障檢測方法 .......................................................................... 6 故障靈敏度 ..................................................................................................................... 6 系統(tǒng)描述 ......................................................................................................................... 7 過程模型 ............................................................................................................... 7 殘差產(chǎn)生器 ........................................................................................................... 7 預備知識 ......................................................................................................................... 9 問題描述 ......................................................................................................................... 9 兩個定理 ....................................................................................................................... 10 基于狀態(tài)空間的故障檢測濾波器 ............................................................................... 13 第三章 倒立擺故障檢測系統(tǒng)建模 ............................................................ 16 倒立擺系統(tǒng) ................................................................................................................... 16 倒立擺系統(tǒng)組成 ................................................................................................. 16 四個多變量 ......................................................................................................... 17 非線性系統(tǒng)模型 ........................................................................................................... 17 模擬系統(tǒng) ....................................................................................................................... 18 LCF 的一般模型 ........................................................................................................... 19 模型不定量 ......................................................................................................... 20 模擬故障 ............................................................................................................. 20 閉環(huán)模型 ....................................................................................................................... 21 觀測器 ................................................................................................................. 21 干擾補償?shù)臓顟B(tài)反饋控制器 ............................................................................. 21 極點配置 ....................................................................................................................... 22 第四章 仿真 .................................................................................................. 24 SimulinMatlab/ 簡介 .................................................................................................... 24 Matalb 簡介 ........................................................................................................ 24 Simulink 簡介 ...................................................................................................... 24 倒立擺故障檢測系統(tǒng)仿真 ........................................................................................... 25 倒立擺故障檢測系統(tǒng)相關數(shù)據(jù) ...............