SYNTHESIS OF FAULT ESTIMATION OBSERVER, BASED ON SPECTRAL MIMO H2 OPTIMIZATION

This paper is devoted to slowly varying additive fault detection with implementation of the observer-filter to be designed. Sensitivity of the observer to the external disturbance is to be minimized by the choice of its parameters. There are a lot of papers, devoted to fault detection issues, but such problems with initially given spectral features of external disturbances are not a subject of serious attention, in our opinion. External disturbances, which are considered in this research, can be presented as a sum of harmonic oscillations with given central frequency (sea wave disturbance) and a constant signal (ocean currents and wind). A suppression of the polyharmonical oscillations influence is considered as H2-optimization problem, which can be solved with application of the specific spectral approach in frequency domain. This approach is based on polynomial factorization that can improve computational effectiveness of the observer design procedures. This also guaranties nonuniqueness of the optimal solution that makes possible to provide integral action of the residual signal relatively to the external disturbance for the case when at least two sensors are used. The novel algorithm of adaptive fault estimation observer analytical synthesis is proposed and its effectiveness is demonstrated by the numerical example of the fault detection process with implementation of MATLAB package.