基于两级卡尔曼滤波器的三旋翼无人机执行器异常行为诊断  

Abnormal Behavior Diagnosis of Tri-rotor UAV's Actuator Based on Two-Stage Kalman Filter

作　　者：马文来 王少波[2,3] 李瑞先 郝伟[3] MA Wenlai;WANG Shaobo;LI Ruixian;HAO Wei(College of Civil Aviation Nanjing University of Aeronautics and Astronautics,Nanjing 211000 China;Traffic and Vehicle Engineering College Shandong University of Technology,Zibo 255000 China;Flight College Binzhou University,Binzhou 256000 China)

机构地区：[1]南京航空航天大学民航学院,南京211000 [2]山东理工大学交通与车辆工程学院,山东淄博255000 [3]滨州学院飞行学院,山东滨州256000

出　　处：《电光与控制》2024年第2期105-111,共7页Electronics Optics & Control

基　　金：国家自然科学基金(62103060);山东省自然科学基金(ZR 2019PF021,ZR2020MF142);中国高校产学研创新基金(2021ZYA07001)。

摘　　要：针对三旋翼无人机执行器异常行为,设计了基于两级卡尔曼滤波器的异常行为诊断算法。对三旋翼无人机执行器异常时的动力学特性进行分析,并在悬停状态下进行近似,得到系统状态空间方程。基于卡尔曼滤波器设计异常行为估计子滤波器,得到无人机执行器异常行为的最优估计。引入耦合方程将最优估计代入状态估计子滤波器,得到状态误差最优估计,并将系统状态和异常行为进行隔离,实现执行器异常行为诊断。最后通过数值仿真进行了验证,结果表明所提算法能够较好地对执行器异常行为进行诊断。As for the abnormal behaviors of tri-rotor UAV's actuator a Two-Stage Kalman Filter(TSKF)based diagnosis algorithm is designed.Firstly the dynamics of the tri-rotor UAV under its actuator's abnormal behaviors are analyzed and then approximated under the hovering state to obtain the system state space equation.Secondly the abnormal behavior estimation sub-filter is designed based on the Kalman filter to obtain the optimal estimation of the abnormal behaviors of the UAV's actuator.The coupling equation is introduced to put the optimal estimation into the state estimation sub-filter to obtain the optimal estimation of state errors.The abnormal behaviors are isolated from the system states so as to diagnose the actuator's abnormal behaviors.Finally numerical simulations are implemented and the results show that the proposed algorithm can well diagnose the actuator's abnormal behaviors.

关 键 词：两级卡尔曼滤波 三旋翼无人机 执行器 异常行为 诊断 

分 类 号：V279[航空宇航科学与技术—飞行器设计]