基于EKF的无人机飞行控制系统故障检测

EKF-Based Fault Detection of Unmanned Aerial Vehicle Flight Control System

无人机飞行控制系统是一种典型的多传感器闭环控制系统,其执行机构与传感器故障会严重影响系统的安全性与可靠性,针对无人机飞行控制系统故障检测问题的研究具有重要的意义.本文考虑了一类无人机闭环非线性飞行控制系统的故障检测问题,针对风扰动影响下无人机纵向非线性系统模型,设计基于扩展卡尔曼滤波器的残差产生器,并应用χ2检验对残差进行评价,实现无人机闭环控制系统的故障检测.同时,基于某型无人机Simulink仿真平台进行仿真实验.结果表明,所提出的方法能够实现空速管堵塞故障和升降舵部分失效故障的检测.

The unmanned aerial vehicle （UAV） flight control system is a typical multi-sensor closed-loop system. Since actuator faults and sensor faults could seriously affect the security and reliability of the sys- tem, fault detection of the UAV flight control system is of great significance. This paper deals with the problem of fault detection of the closed-loop nonlinear model of the UAV flight control system. The non- linear model of longitudinal motion of the UAV in the presence of wind disturbance was introduced. The extended Kalman filter （EKF） was utilized for the residual generation. The Chi-square test was selected for the residual evaluation and the fault detection task for UAV closed-loop system was accomplished. Fi- nally, based on the simulink platform of a certain type of UAV, simulation results are provided to illus- trate the effectiveness of the approach proposed in the case of pitut fault and elevator fault.