基于状态估计的串联旋翼直升机作动器故障检测及实验验证

IF 1.4 4区计算机科学 Q4 AUTOMATION & CONTROL SYSTEMS

Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering Pub Date : 2024-04-06 DOI:10.1177/09596518241240185

Pengcheng Yang, Yuxue Li, Xiaoyuan Zhu

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引用次数: 0

摘要

及时的故障检测对双旋翼直升机的飞行安全至关重要。本文提出了一种基于状态估计和测量值与估计值偏差的故障检测方法。首先，建立多面体线性参数变化（LPV）模型来解决直升机在不同运动方向上的非线性耦合问题。然后，为了获取作动器故障信息，开发了一种鲁棒状态观测器来生成残差。同时，设计了一种混合[公式：见正文]算法，通过配置性能参数来计算观测器增益，从而使残差既对作动器故障敏感，又对外部干扰具有鲁棒性。此外，还引入了一种动态阈值方法来评估残差信号，以检测致动器故障。最后，基于三旋翼直升机平台，通过比较仿真和实验测试验证了所提方法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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State estimation based actuator fault detection for tandem rotor helicopter with experimental validation

Timely fault detection is essential to flight safety of tandem rotor helicopter. In this paper, a fault detection method is proposed based on state estimation and the deviation between the measured value and the estimated value. Firstly, a polyhedral linear parameter varying (LPV) model is established to solve the nonlinear coupling problem of the helicopter in different moving directions. Then, to obtain actuator fault information, a robust state observer is developed to generate the residual. Meanwhile, a mixed [Formula: see text] algorithm is designed to calculate observer gain by configuring performance parameters, which makes the residuals both sensitive to actuator faults and robust to external disturbances. Furthermore, a dynamic threshold method is introduced to evaluate the residual signal for actuator fault detection. Finally, based on the 3-dof helicopter platform, the effectiveness of the proposed method is verified through comparative simulation and experimental tests.

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来源期刊

Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 工程技术-自动化与控制系统

CiteScore

3.50

自引率

18.80%

发文量

审稿时长

4.2 months

期刊介绍： Systems and control studies provide a unifying framework for a wide range of engineering disciplines and industrial applications. The Journal of Systems and Control Engineering refleSystems and control studies provide a unifying framework for a wide range of engineering disciplines and industrial applications. The Journal of Systems and Control Engineering reflects this diversity by giving prominence to experimental application and industrial studies. "It is clear from the feedback we receive that the Journal is now recognised as one of the leaders in its field. We are particularly interested in highlighting experimental applications and industrial studies, but also new theoretical developments which are likely to provide the foundation for future applications. In 2009, we launched a new Series of "Forward Look" papers written by leading researchers and practitioners. These short articles are intended to be provocative and help to set the agenda for future developments. We continue to strive for fast decision times and minimum delays in the production processes." Professor Cliff Burrows - University of Bath, UK This journal is a member of the Committee on Publication Ethics (COPE).cts this diversity by giving prominence to experimental application and industrial studies.