基于联合多观测器的四旋翼直升机故障诊断

Joint Multi-Observer Based Fault Diagnosis for Quadrotor Helicopter

针对四旋翼飞行器在发生执行器故障情况下难以进行故障估计的问题,基于增广故障估计观测器和Luenberger故障检测观测器,提出了一种较为新颖的联合多观测器的故障诊断设计方法。该设计方法不仅能够有效地估计单通道执行器故障,解决故障分布阵列不满秩问题下故障估计难的问题,而且拓宽了增广故障估计观测器的适用范围。最后,通过Quanser 3-DOF Hover平台验证了所提算法的可靠性和有效性。

For the quadrotor aircraft in case of actuator failures is difficult to fault estimation problem,a relatively new joint multiple fault diagnosis observers design method is proposed based on the augmented fault estimation observer and the Luenberger fault detection observer.The design method can effectively estimate the single actuator fault,troubleshoot the problem that fault distribution matrix is not full column rank,and widened the application scope of the augmented fault estimation observer.Finally,the proposed algorithm is verified to be reliable and valid on Quanser 3-DOF Hover platform.