基于自适应观测器的四旋翼无人飞行器传感器故障诊断方法

Sensor Fault Diagnosis Method for Quad-Rotor Aircraft Based on Adaptive Observer

针对四旋翼无人飞行器传感器故障诊断问题,提出一种用于四旋翼无人飞行器加速度计和陀螺仪故障同时发生的故障检测与隔离以及故障偏差值估计的非线性诊断方法。首先,在建立飞行器动力学模型和传感器模型的基础上,构建四旋翼无人飞行器传感器故障检测与诊断系统。其次,利用故障观测器完成传感器故障的检测与隔离,基于Laypunov方法设计非线性自适应观测器对未知故障偏差值进行估计。最后,在传感器测量噪声存在的情况下,证明自适应律的稳定性和参数收敛性。实验结果表明,该方法能有效进行传感器的故障检测与隔离,实现对传感器故障偏差的估计与跟踪。

For sensor fault diagnosis of quad-rotor aircraft,a nonlinear diagnosis method for detecting,isolating and estimating possible simultaneous sensor faults of quad-rotor aircraft is proposed. Firstly,the aircraft dynamics model and sensor model are established,and the sensor fault detection and diagnosis system of the quad-rotor aircraft is constructed. Secondly,the fault observer is used to realize sensor fault detection and isolation,and the nonlinear adaptive observer is designed based on the Laypunov method to estimate the unknown fault bias. Finally,the stability and parameter convergence of the adaptive laws are proved in the presence of sensor measurement noise. The experimental results show that the method can detect and isolate the fault of sensors effectively,and realize the estimation and tracking of the sensor fault biases.