四旋翼无人机的自适应故障诊断与估计  

Adaptive fault diagnosis and estimation for quadrotor UAV

作　　者：王莉娜 刘贞报[1] 院金彪 党庆庆 江飞鸿 王宝栋 WANG Lina;LIU Zhenbao;YUAN Jinbiao;DANG Qingqing;JIANG Feihong;WANG Baodong(School of Civil Aviation,Northwestern Polytechnical University,Xi’an 710072,China;Flight Control System Design Institute,AVIC the First Aircraft Design Institute,Xi’an 710089,China)

机构地区：[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

出　　处：《北京航空航天大学学报》2023年第9期2395-2405,共11页Journal of Beijing University of Aeronautics and Astronautics

基　　金：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)。

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。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 switchingρ-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.

关 键 词：故障检测和估计 无人机 自适应技术 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] V241