State Key Lab for Turbulence and Complex Systems, Department of Mechanics and Engineering Science, College of Engineering, Peking University, Beijing 100871, PR China.
Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing 100083, PR China.
ISA Trans. 2018 Sep;80:279-285. doi: 10.1016/j.isatra.2018.07.004. Epub 2018 Jul 31.
This paper studies the fault-tolerant tracking control issues for the ship propulsion system. The propulsion system with one engine and one propeller is first introduced, and the faulty model with loss of actuator effectiveness is formulated. By utilizing the H output feedback technique, the nominal proportional-integral (PI) controller is designed with its gains analytically determined, yet ensuring the desired tracking performance in the fault-free case. Furthermore, to accommodate loss of actuator effectiveness faults, a fault-tolerant PI control scheme is proposed, including the adaptive tuning law to adjust controller gains online. The proposed strategy is not only simple and easy to implement, but also guarantees the graceful tracking performance and fault-tolerant capability. Finally, a case study on the ship propulsion system is presented to demonstrate the effectiveness of the proposed methods.
本文研究了船舶推进系统的容错跟踪控制问题。首先介绍了带有一个发动机和一个螺旋桨的推进系统，并建立了执行器失效的故障模型。利用 H 输出反馈技术，设计了标称比例积分（PI）控制器，其增益通过解析确定，以确保在无故障情况下达到所需的跟踪性能。此外，为了适应执行器失效故障，提出了一种容错 PI 控制方案，包括自适应调整律来在线调整控制器增益。所提出的策略不仅简单易用，而且保证了良好的跟踪性能和容错能力。最后，通过船舶推进系统的实例研究，验证了所提出方法的有效性。
