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中文摘要：
带马尔可夫参数的容错控制系统（FTCSMP，Fault Tolerant Control System with Markovian Parameters）作为一种描述主动容错控制系统（AFTCS，Active Fault Tolerant Control System）的模型，在一些文献中被用于系统稳定性分析．然而很少有文章研究FTCSMP的可靠性问题．以故障检测与隔离（FDI，Fault Detectionand Isolation）装置监视下的冗余传感器组为研究对象，建立了其FTCSMP模型，进而研究该传感器／FDI装置的可靠性．在该模型中，用2个定义在不同状态空间中的齐次马尔可夫随机过程分别表示系统元件的故障过程和FDI装置的决策过程．基于马尔可夫理论，研究了传感器／FDI装置的可靠性和安全性．当FTCSMP中的系统故障过程和FDI过程为生灭过程时，将故障检测延迟时间分为“有效”和“无效”2种类型，分析了这2种延时对传感器／FDI装置可靠性、安全性的影响．以双余度惯导系统为例，给出了仿真例子．
英文摘要：
Fault tolerant control system with Markovian parameters（FTCSMP）, as a model of active fault tolerant control system（AFTCS）, was used to analyze the system stability in several papers. However, little research was on the reliability of FTCSMP. FTCSMP model was used to evaluate the reliability of redundant sensors monitored by fault detection and isolation （FDI）. In this model, two homogeneous Markov stochastic processes with different state spaces were defined： one represented system components failures and the other represented the decisions of the FDI process. Based on Markov theory, the reliability and safety of the sensor/ FDI unit were studied. When system fault process and FDI process of FTCSMP were both birth and death process, fault detection delay was divided into two kinds ： effective and ineffective. The influence of both kinds of delay to the unit reliability and safety was analyzed. A numerical example of dual redundant inertial navigation system was given to show the usefulness of the proposed theoretical results.
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