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基于扩张状态观测器的运输机多故障容错控制

董文瀚 童颖裔 朱鹏 郭佳

董文瀚, 童颖裔, 朱鹏, 等 . 基于扩张状态观测器的运输机多故障容错控制[J]. 北京航空航天大学学报, 2020, 46(5): 1005-1017. doi: 10.13700/j.bh.1001-5965.2019.0346
引用本文: 董文瀚, 童颖裔, 朱鹏, 等 . 基于扩张状态观测器的运输机多故障容错控制[J]. 北京航空航天大学学报, 2020, 46(5): 1005-1017. doi: 10.13700/j.bh.1001-5965.2019.0346
DONG Wenhan, TONG Yingyi, ZHU Peng, et al. Multiple-fault fault-tolerant control of transport aircraft based on extended state observer[J]. Journal of Beijing University of Aeronautics and Astronautics, 2020, 46(5): 1005-1017. doi: 10.13700/j.bh.1001-5965.2019.0346(in Chinese)
Citation: DONG Wenhan, TONG Yingyi, ZHU Peng, et al. Multiple-fault fault-tolerant control of transport aircraft based on extended state observer[J]. Journal of Beijing University of Aeronautics and Astronautics, 2020, 46(5): 1005-1017. doi: 10.13700/j.bh.1001-5965.2019.0346(in Chinese)

基于扩张状态观测器的运输机多故障容错控制

doi: 10.13700/j.bh.1001-5965.2019.0346
基金项目: 

航空科学基金 20171396

详细信息
    作者简介:

    董文瀚  男, 博士, 教授, 博士生导师。主要研究方向:自适应控制

    童颖裔  男, 硕士研究生。主要研究方向:容错飞行控制

    通讯作者:

    董文瀚, E-mail:dongwenhan@sina.com

  • 中图分类号: V249.1

Multiple-fault fault-tolerant control of transport aircraft based on extended state observer

Funds: 

Aeronautical Science Foundation of China 20171396

More Information
  • 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。

     

  • 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 2  控制系统结构框图

    Figure 2.  Block diagram of control system structure

    图 3  指令滤波器

    Figure 3.  Command filter

    图 4  姿态角指令跟踪曲线

    Figure 4.  Command tracking curves of attitude angle

    图 5  姿态角跟踪误差

    Figure 5.  Attitude angle tracking error

    图 6  控制舵面偏转角度

    Figure 6.  Deflection angles of control surfaces

    图 7  d1d2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, ysminys(t)<ysmax 漂移偏差故障
    下载: 导出CSV

    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, ttlock 无舵面故障
    δi=miδzi 0<mi<1, ttlock 损伤故障
    δi=δi(tlock) mi=0, t=tlock 卡死故障
    下载: 导出CSV

    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
    下载: 导出CSV

    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
    下载: 导出CSV
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出版历程
  • 收稿日期:  2019-06-28
  • 录用日期:  2019-10-15
  • 刊出日期:  2020-05-20

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