三自由度直升机故障估计的比较研究

Mengjie Lu, Xiaoyuan Zhu, Tianzhen Wang
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引用次数: 1

摘要

故障估计在健康监测和容错控制中起着重要的作用,可以保证直升机系统的可靠性和安全性。直升机是典型的非线性、强耦合和不稳定系统,其故障估计设计具有一定的挑战性。此外,针对真实直升机系统对不同的故障估计方案进行实验验证也存在很大的风险和成本。因此,本文拟采用台式实验平台对直升机系统进行故障估计的比较研究。基于直升机动力学模型,提出了四种基于观测器的故障估计方法,分别采用Luenberger观测器、卡尔曼滤波器、未知输入观测器和改进的比例-积分-导数观测器设计。在改进的基于比例-积分-导数观测器的故障估计设计中,特别考虑了测量噪声。以Quanser的三自由度直升机系统为例,通过仿真和实验验证了这几种故障估计方法的性能差异。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Comparative study of fault estimation for 3-DOF helicopter
Fault estimation plays an important role in health monitoring as well as fault tolerant control, which can help ensure the reliability and safety of helicopter system. As the helicopter is a typical nonlinear, strong coupling and unstable system, its fault estimation design is challenging. Besides, it is also of great risk and cost to conduct experimental validation of different fault estimation schemes for real helicopter system. Thus, this paper is intended to conduct comparative research of fault estimation for helicopter system with table-mount experimental platform. Based on helicopter’s dynamic model, four observer-based fault estimation approaches are presented, in which Luenberger observer, Kalman filter, unknown input observer, and modified proportional-integral-derivative observer design are adopted separately. For the modified proportional-integral-derivative observer based fault estimation design, measurement noise is specifically considered. Based on Quanser’s 3-DOF helicopter system, both simulation and experimental tests are carried out to show the performance differences of these fault estimation approaches.
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