基于双观测器并行结构的四旋翼无人机故障检测与重构  

Faults detection and reconstruction for quad-rotor aircraft based on double-observers parallel structure

作　　者：宫勋[1] 赵常均[1] 王丽[1] 白越[1] 

机构地区：[1]中国科学院长春光学精密机械与物理研究所,长春130033

出　　处：《控制与决策》2015年第7期1214-1218,共5页Control and Decision

基　　金：国家自然科学基金项目(61304017;11372309)

摘　　要：以四旋翼飞行器执行单元增益型故障的检测与重构为研究内容,设计基于滑模观测器的故障检测算法.针对飞行器姿态控制系统的驱动单元冗余特性,提出一种并行双降维观测器与超螺旋算法相结合的故障重构算法.对所提出的算法进行了理论分析,并通过数值仿真验证了所提出算法的有效性.The fault detection and reconstruction method based on actutor gain-fault of a quad-rotor aircraft is proposed. A sliding-mode fault observer is designed to detect the fault. In consideration of the actuation redundancy characteristic, a fault reconstruction algorithm is proposed based on paralleled double-observers and a super-twisting algorithm. The theoretical analysis on the proposed methods is given, and the numerical simulation verifies the effectiveness of the proposed methods.

关 键 词：驱动单元故障检测 降维观测器 双观测器并行 超螺旋算法 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]