【正文】 e 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(xué)杏林 學(xué)院畢業(yè)設(shè)計(jì) (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(yīng)用 ................................................................................................... 1 倒立擺系統(tǒng) 研究現(xiàn)狀 ..................................................................................................... 2 故障檢測(cè)方法研究的現(xiàn)狀 ............................................................................................. 3 本論文主要研究?jī)?nèi)容及章節(jié)安排 ................................................................................. 4 第二章 最優(yōu)故障檢測(cè)方法 ............................................................................. 6 故障靈敏度 ..................................................................................................................... 6 系統(tǒng)描述 ......................................................................................................................... 7 過(guò)程模型 ............................................................................................................... 7 殘差產(chǎn)生器 ........................................................................................................... 7 預(yù)備知 識(shí) ......................................................................................................................... 9 問(wèn)題描述 ......................................................................................................................... 9 兩個(gè)定理 ....................................................................................................................... 10 基于狀態(tài)空間的故障檢測(cè)濾波器 ............................................................................... 13 第三章 倒立擺故障檢 測(cè)系統(tǒng)建模 .............................................................. 16 倒立擺系統(tǒng) ................................................................................................................... 16 倒立擺系統(tǒng)組成 ................................................................................................. 16 四個(gè)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(cè)器 ................................................................................................................. 21 干擾補(bǔ)償?shù)臓顟B(tài)反饋控制器 ............................................................................. 21 極 點(diǎn)配置 ....................................................................................................................... 22 第四章 仿真 ...................................................................................................... 24 SimulinMatlab/ 簡(jiǎn)介 .................................................................................................... 24 Matalb 簡(jiǎn)介 ........................................................................................................ 24 Simulink 簡(jiǎn)介 ...................................................................................................... 24 倒立擺故障檢測(cè)系統(tǒng)仿真 ........................................................................................... 25 倒立擺故障檢測(cè)系統(tǒng)相關(guān)數(shù)據(jù) ......................................................................... 25 Simulink 搭建模型 .............................................................................................. 26 南通大學(xué)杏林 學(xué)院畢業(yè)設(shè)計(jì) (論文 ) IV 仿真結(jié)果 ....................................................................................................................... 26 第五章 總結(jié)和展望 ....................................................................................... 31 總結(jié) ............................................................................................................................... 31 展望 ............................................................................................................................... 31 致謝 ..............................................................................