摘要
针对无法直接测量得到姿态角的四旋翼飞行器多传感器偏差故障检测与诊断问题,提出一种基于姿态角估计的多传感器故障同时发生的故障检测与隔离以及故障偏差值估计的方法。首先,在考虑模型误差的前提下,建立四旋翼飞行器动力学模型和传感器模型,构建四旋翼飞行器故障检测与诊断系统。其次,在利用基于滑模观测器得到姿态角估计值的基础上,设计非线性故障观测器对故障进行检测与隔离。最后,构建非线性自适应观测器实现未知故障偏差值的估计,并证明自适应律的稳定性和参数收敛性。实验结果表明,该方法能实现多传感器偏差故障检测与隔离,并在5 s之内实现对传感器多故障偏差的估计与跟踪,且估计误差有界,该方法有效性得以验证。
Aiming at the problem of multiple sensors bias fault detection and diagnosis for quad-rotor aircraft under the condition that the attitude angle cannot be measured directly, a nonlinear diagnosis method based on attitude angle estimation is presented for detecting, isolating and estimating possible multiple simultaneous sensor faults of quad-rotor aircraft. Firstly, considering the model error, the aircraft dynamic model and sensor model are established, and a quad-rotor aircraft fault detection and diagnosis system is built. Secondly, on the basis of the estimation of attitude angle based on sliding mode observer, a nonlinear fault observer is designed to detect and isolate the fault. Finally, the nonlinear adaptive observer is designed for bias estimation, and the stability of the adaptive law and the convergence of the parameter are proved. The experimental results show that the proposed method can detect and isolate the multiple simultaneous sensor faults quickly, the bias fault is estimated and tracked within 5 s, and the estimation error is bounded, which verify the effectiveness of the proposed method.
作者
王日俊
曾志强
段能全
党长营
杜文华
王俊元
WANG Rijun;ZENG Zhiqiang;DUAN Nengquan;DANG Changying;DU Wenhua;WANG Junyuan(School of Mechanical Engineering,North University of China,Taiyuan 030051,China)
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2018年第5期692-700,共9页
Journal of Chinese Inertial Technology
基金
国家自然科学基金(11372309
11602231)
中北大学自然科学基金(XJJ2016006)
关键词
四旋翼飞行器
滑模观测器
自适应观测器
故障诊断
偏差估计
quad-rotor aircraft
sliding mode observer
adaptive observer
fault diagnosis
bias estimation