基于自适应观测器的直升机系统故障估计  

Fault Estimation of Helicopter System Based on Adaptive Observer

作　　者：陆孟洁 王天真[1] 祝小元 LU Mengjie;WANG Tianzhen;ZHU Xiaoyuan(Shanghai Maritime University,Shanghai 201000,China;Southeast University,Nanjing 211000,China)

机构地区：[1]上海海事大学,上海201000 [2]东南大学,南京211000

出　　处：《电光与控制》2022年第2期103-107,112,共6页Electronics Optics & Control

基　　金：国家自然科学基金(51605278,61673260)。

摘　　要：针对三自由度直升机系统,研究了基于自适应观测器的故障估计问题。首先,建立了三自由度直升机的非线性模型,研究了基于比例型自适应观测器的故障估计方法;进一步,为了提高三自由度直升机系统故障估计的动态性能,构造了比例-微分型自适应观测器;通过引入H∞性能保证了所提出的故障估计方法的鲁棒性,并且利用线性矩阵不等式计算观测器增益;最后,通过三自由度直升机仿真系统对所设计的故障观测器进行仿真验证。结果表明,与比例型自适应观测器相比,比例-微分型自适应观测器具有更好的故障估计精度和速度。For 3-DOF helicopter system,the problem of fault estimation based on adaptive observer is studied.Firstly,a nonlinear model of a 3-DOF helicopter is established,and a fault estimation method based on proportional adaptive observer is studied.Furthermore,in order to improve the dynamic performance of fault estimation of 3-DOF helicopter system,a proportional-derivative adaptive observer is constructed.The robustness of the proposed fault estimation method is guaranteed by introducing H∞performance,and the observer gains are calculated by using Linear Matrix Inequalities(LMI).Finally,the designed fault observer is simulated and verified by 3-DOF helicopter simulation system.The results show that,the proportional-derivative adaptive observer has higher accuracy and speed in fault estimation compared with the proportional adaptive observer.

关 键 词：三自由度直升机 故障估计 自适应观测器 执行器故障 

分 类 号：V279[航空宇航科学与技术—飞行器设计]