基于多模自适应滤波的无人机控制系统故障诊断

Study on Sensor and Actuator Fault Diagnosis for UAV Control System

建立了无人机控制系统传感器和执行器的全局故障和局部故障的模型,在此基础上应用多重模型自适应卡尔曼滤波方法对其传感器和执行器的各种软硬故障进行诊断,应用所建立的数学模型与方法,对无人机的三个传感器和两个执行器的局部与全局故障进行了仿真计算。在仿真过程中发现,此方法的诊断准确度高,无延迟报警,算法简单,仿真结果验证了该种方法的有效性。

The sensor and actuator failure models of UAV control system are built. These models include partial and total failures of sensor and actuator. Based on the models, multiple model adaptive filter is used to detect and to isolate the faults of the sensor and actuator of UAV control system. A simulation example, which includes three sensor faults and two actuator faults of an UAV control system, is given for illustration. It is found that the method can be used to detect such failures accurately and quickly through the simulation.