四旋翼无人机的自适应故障诊断与估计

王莉娜; 刘贞报; 院金彪; 党庆庆; 江飞鸿; 王宝栋

doi:10.13700/j.bh.1001-5965.2021.0656

四旋翼无人机的自适应故障诊断与估计

doi: 10.13700/j.bh.1001-5965.2021.0656

1.
西北工业大学民航学院，西安 710072
2.
航空工业第一飞机设计研究院飞控系统设计研究所，西安 710089

基金项目: 国家自然科学基金(61672430)；国家留学基金创新型人才国际合作培养项目(201906290246)；航空科学基金(ASFC-2018ZC53026)；陕西省重点研发计划(2019ZDLGY14-02-010)；深圳市基础研究资助项目(JCYJ20190806152203506)；深圳市高等院校稳定支持计划(GXWD202012311 65807008,20200830220334001)；北京空间飞行器总体设计部项目(JSZL2020203B004)

详细信息

作者简介:
王莉娜等：四旋翼自适应故障诊断与估计 11

通讯作者:
E-mail：lena@mail.nwpu.edu.cn

中图分类号: V279；V241
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- 被引次数: 0
出版历程
- 收稿日期: 2021-11-02
- 录用日期: 2022-02-13
- 网络出版日期: 2022-03-18
- 整期出版日期: 2023-10-01

Adaptive fault diagnosis and estimation for quadrotor UAV

1.
School of Civil Aviation，Northwestern Polytechnical University，Xi’an 710072，China
2.
Flight Control System Design Institute，AVIC the First Aircraft Design Institute，Xi’an 710089，China

Funds: National Natural Science Foundation of China (61672430); China Scholarship Fund International Cooperation Training Program for Innovative Talents (201906290246)；Aeronautical Science Foundation of China (ASFC-2018ZC53026); Key R & D Program of Shaanxi Province (2019ZDLGY14-02-010); Shenzhen Fundamental Research Program (JCYJ20190806152203506); Shenzhen Basic Research Funding Project (GXWD202012311 65807008, 20200830220334001); Beijing Institute of Space Systems Engineering (JSZL2020203B004)

More Information

Corresponding author: E-mail：lena@mail.nwpu.edu.cn

摘要

摘要:
针对四旋翼无人机执行器常见故障，提出一种基于自适应技术和观测器的鲁棒故障检测和估计（FDE）方法。在故障检测阶段，设计非线性诊断观测器，通过解析函数推导出阈值，确保所提检测方法的鲁棒性，并对所设计的观测器和残差评估函数进行证明。在故障估计阶段，提出基于切换ρ-修正的自适应律来准确估计检测到故障的方案。该方案不仅能够同时估计系统状态和残差信号，而且能估计未知故障的特征和大小。通过线性矩阵不等式进行设计参数的计算。利用2种故障场景分别进行仿真验证，同时在4种情况下讨论所提方法的有效性。基于四旋翼无人机硬件在环实验台验证了所提方法的可行性。
- 故障检测和估计 /
- 无人机 /
- 自适应技术 /
- 观测器 /
- 执行器故障
Abstract:
A fault detection and estimation（FDA） method based on adaptive technology and observer is designed for common actuator faults of quadrotor unmanned aerial vehicle. In the stage of fault detection, the nonlinear diagnostic observer is designed, and the threshold value is derived by analytic function to ensure the robustness of the proposed detection method. Moreover, the designed observer and residual evaluation function are proved. In the stage of fault estimation, an adaptive law based on switching ρ-correction is proposed to accurately estimate the detected faults. This scheme can not only simultaneously estimate the system state and residual signal, but also estimate the characteristics and magnitude of unknown faults. The design parameters are calculated by linear matrix inequality method. The simulation results are verified in two fault scenarios, and the validity of the proposed method is discussed in four cases. The experimental results show the effectiveness of the proposed method by using the hardware-in-loop simulation of quadrotor unmanned aerial vehicle.
- fault detection and estimation /
- unmanned aerial vehicle /
- adaptive technology /
- observer /
- actuator fault

HTML全文

图 1 四旋翼无人机布局

Figure 1. Quadrotor UAV layout diagram

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图 2 四旋翼无人机控制模式

Figure 2. Quadrotor UAV control model

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图 3 场景1下验证本文方法

Figure 3. Verify Droposed method in scenario 1

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图 4 场景2下验证本文方法

Figure 4. Proposed method verification in scenario 2

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图 5 故障和模型不确定性存在情况下的方法验证

Figure 5. Scheme verification in the presence of fault and model uncertainties

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图 6 故障和测量不确定性存在情况下的方法验证

Figure 6. Scheme verification in the presence of fault and measurement uncertainty

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图 7 基于文献[11]中方法的故障估计

Figure 7. Fault estimation based on method in literature[11]

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图 8 四旋翼无人机硬件在环仿真框图

Figure 8. Quadrotor UAV HILS diagram

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图 9 计算机之间的关系

Figure 9. Connection between computers

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图 10 3个分量上的故障诊断和自适应阈值

Figure 10. Fault diagnosis result

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图 11 故障估计结果

Figure 11. Fault estimation result

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表 1 本文方法与文献[11]中方法比较

Table 1. Performances of proposed method and reported approach of literature [11]

方法	场景1故障诊断时间/s	场景2故障诊断时间/s	场景1的MSE	场景2的MSE
本文方法	15.2	10.25	6.6721×10⁻⁴	3.8211×10⁻⁴
文献[11]中的方法	15.5	10.5	5.1245	3.5828

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