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研究生： 羅時歆
Lo, Shi-Xin
論文名稱： 基於卡爾曼觀測器的錯誤偵測與性能恢復
Kalman Filter-Based Fault Detection and Performance Recovery for Linear Systems
指導教授： 蔡聖鴻
Tsai, S. H. Jason
學位類別： 碩士
Master
系所名稱： 電機資訊學院 - 電機工程學系
Department of Electrical Engineering
論文出版年： 2006
畢業學年度： 94
語文別： 英文
論文頁數： 57
中文關鍵詞： 卡爾曼觀測器 、錯誤偵測
外文關鍵詞： Kalman filter, fault detection
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    • 　　本論文中提出基於卡爾曼觀測器的錯誤偵測與性能恢復，基於全階卡爾曼觀測器的特性，我們分別提出了控制器與狀態錯誤的偵測與恢復方法。對於控制器錯誤，我們使用輸入補償的方式恢復系統。對於狀態錯誤，控制器重新組態方法被用來恢復系統追蹤能力。所有的方法可以修復被狀態錯誤或控制器錯誤影響的系統效能。

    　　The Kalman filter-based fault detection and performance recovery for linear systems is proposed in this paper. Based on advantages of the full-order Kalman filter, when system appears the multiple faults simultaneously or sequentially, methods of actuator and state fault detections and performance recoveries are well-performed based on the proposed input compensation method and controller reconfiguration method, respectively. All schemes repair the system performance induced by the unanticipated actuator and/or state faults.

    List of Contents Page 中文摘要 I Abstract II List of Figures IV Chapter 1 Introduction 1.1 Introduction 1-1 1.2 Organization of the thesis 1-3 2 Kalman Filter-Based Observer 2-1 2.1 Kalman filter-based observer for fault detection and isolation 2-2 2.2 Stability and convergence 2-8 2.3 Property of Kalman filter-based observer 2-10 3 Actuator Fault Detection and Performance Recovery Technique 3-1 3.1 Introduction…………………………………………………………………. 3-2 3.2 The design of controllers 3-3 3.3 Methodology of actuator fault detection and performance recovery with input compensation 3-5 4 State Fault Detection and Performance Recovery Technique 4-1 4.1 Introduction…………………………………………………………………. 4-2 4.2 State fault detection with Kalman filter-based observer 4-3 4.3 State faults and actuator faults detections 4-7 4.4 Performance recovery with controller reconfiguration method 4-8 5 Illustrative Examples 5-1 5.1 Example 5-1 5-2 5.2 Example 5-2 5-6 5.3 Example 5-3 5-9 6 Conclusions 6-1 References Acknowledgements

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