Multiple-fault fault-tolerant control of transport aircraft based on extended state observer
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摘要:
针对含有传感器与舵面故障的运输机姿态跟踪问题, 提出了一种基于扩张状态观测器的反步容错控制方法。采用状态观测器与控制器分开设计的方法, 设计含神经网络的扩张状态观测器估计系统状态、传感器和舵面故障信息。在此基础上, 利用状态估计值代替实际状态, 采用反步法设计姿态角跟踪控制律, 并引入指令滤波器提高反步法的控制性能, 基于Lyapunov稳定性理论推导证明了闭环系统跟踪误差的最终有界收敛。仿真结果表明, 在系统存在传感器与舵面多故障的条件下, 所提方法依然可以实现运输机姿态角的稳定跟踪。
Abstract:To solve the attitude tracking problem of transport aircraft with sensor faults and actuator faults, a backstepping fault-tolerant control method based on extended state observer is proposed. The state observer and controller are designed separately. The extended state observer with neural network is designed to estimate the flight states, sensor faults and actuator faults simultaneously. On this basis, the flight states are replaced by the estimates, the control law of attitude tracking control is designed based on backstepping control technique, and the command filter is also introduced into the fault-tolerant controller which can improve the control performance.The final bounded convergence of closed-loop system tracking errors is derived and proved using Lyapunov stability analysis. The simulation results show that the proposed method is effective and can solve the attitude angle tracking problem of transport aircraft in the presence of sensor faults and actuator faults.
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Key words:
- extended state observer /
- neural network /
- transport aircraft /
- multiple faults /
- fault-tolerant control
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图 1 Boeing747大型运输机舵面构型示意图
Figure 1. Schematic of control surface configuration of large transport aircraft Boeing747
图 7 d1、d2分别作用下姿态角指令跟踪曲线
Figure 7. Command tracking curves of attitude angle with d1 and d2
表 1 传感器故障类型
Table 1. Sensor fault types
故障方程 故障参数 故障名称 ys=xs ms=1, ys(t)=0 无传感器故障 ys=msxs 0＜ms＜1, ys(t)=0 增益性故障 ys=ys(t) 
固定偏差故障 ys=xs+ys(t) ms=1, ysmin＜ys(t)＜ysmax 漂移偏差故障 
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表 2 舵面故障类型
Table 2. Control surface fault types
故障方程 故障参数 故障名称 δi=δzi mi=1, t≠tlock 无舵面故障 δi=miδzi 0＜mi＜1, t≠tlock 损伤故障 δi=δi(tlock) mi=0, t=tlock 卡死故障
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表 3 指令滤波器参数
Table 3. Parameters of command filters
控制信号 幅值限制 速率限制/((°)·s-1) ζ ωn/(rad·s-1) α ±30° 0.8 4 β ±20° 0.8 2.5 ϕ ±55° 0.8 2.5 p ±50(°)/s 0.8 10 q ±35(°)/s 0.8 10 r ±20(°)/s 0.8 10 δal [－20°, 20°] ±40 0.8 35 δar [－20°, 20°] ±40 0.8 35 δel [－23°, 17°] ±37 0.8 35 δer [－23°, 17°] ±37 0.8 35 δr [－25°, 25°] ±50 0.8 35
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表 4 扩张状态观测器与反步容错控制器参数
Table 4. Parameters of extended state observer and backstepping fault tolerant controller
参数 数值 a1 4 a2 6 a3 4 a4 1 υ1 5 υ2 8 κ1 0.1 κ2 0.05 c 0.01 ι1, ι2 0.02 Γ1－1 2I25×25 Γ2－1 3I3×3
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