无人直升机故障诊断及容错控制设计

Design of Fault Detection and Tolerant Control for Unmanned Helicopter

针对小型无人直升机传感器和执行器故障,采用小波分析、数据融合与分析、参数估计方法,设计了故障诊断及容错控制方案,并进行了仿真验证。仿真结果表明:基于小波分析和多通道传感器综合分析的故障诊断方案能够实现对各类传感器故障的快速检测;传感器的容错控制措施能够在几个控制周期内发挥作用;基于参数估计的故障诊断方案能够快速准确地确定执行器故障具体情况;执行器容错控制模块能够实时根据诊断结果采取措施,并迅速重构控制律。

Aiming at the sensor and actuator faults of small unmanned helicopter,the fault detection and fault-tolerant control scheme were designed by using wavelet analysis,data fusion and analysis,and parameter estimation methods,and the simulation was carried out.The simulation results showed that the fault detection scheme based on wavelet analysis and multi-channel sensor comprehensive analysis could realize the rapid detection of various sensor faults.The fault-tolerant control measures of sensors could play a role in several control cycles.The fault detection scheme based on parameter estimation could quickly and accurately determine the specific situation of the actuator fault,and the fault-tolerant control module of the actuator could take measures according to the diagnosis results in real time,and quickly reconstruct the control law.