【正文】 tween 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 (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(yù)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(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 (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 ................................................................................................................ 33 參考文獻(xiàn) .............................................