四旋翼无人机寿命预测和自主维护方法

Life prediction and self-maintenance method of quadrotor unmanned aerial vehicle

针对四旋翼无人机运行过程中执行器退化引起的剩余寿命缩短问题,提出一种基于风险评价函数的模型预测控制自主维护策略。首先,通过深入分析无人机控制机理构建了自主维护体系架构。其次,基于系统失效阈值的定义,得到悬停状态下无人机剩余寿命分布的解析解,并依据风险评价结果自适应修正模型预测权值矩阵Q和R中元素值实现自主维护,从而在无人机性能与寿命之间达到更好的折中平衡。最后,仿真实验结果表明,本文提出的自主维护策略,可使执行器隐含退化的无人机剩余寿命延长616 min,并保持较好的机体性能。

A model predictive control autonomous maintenance strategy based on risk evaluation function was proposed to address the remaining life shortening problem caused by actuator degradation during the operation of quadrotor unmanned aerial vehicle(UAV).Firstly,the architecture of autonomous maintenance system was constructed through in-depth analysis of the control mechanism of the UAV.Secondly,based on the definition of the system failure threshold,the analytical solution of the remaining life distribution of the UAV under hovering condition was obtained,and the values of Q and R elements of the prediction weight matrix of the model were adaptively modified based on the risk evaluation results to realize autonomous maintenance,so as to achieve a better compromise between UAV performance and life.Finally,the simulation experiment results show that the proposed autonomous maintenance strategy can extend the remaining life of the UAV with implied actuator degradation by 616 min and maintain better airframe performance.