CN115437259A - Airplane attitude fault-tolerant control system and control method for control surface fault - Google Patents
Airplane attitude fault-tolerant control system and control method for control surface fault Download PDFInfo
- Publication number
- CN115437259A CN115437259A CN202211390758.1A CN202211390758A CN115437259A CN 115437259 A CN115437259 A CN 115437259A CN 202211390758 A CN202211390758 A CN 202211390758A CN 115437259 A CN115437259 A CN 115437259A
- Authority
- CN
- China
- Prior art keywords
- control
- fault
- control surface
- module
- attitude
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000005312 nonlinear dynamic Methods 0.000 claims abstract description 41
- 230000006399 behavior Effects 0.000 claims description 50
- 238000004590 computer program Methods 0.000 claims description 18
- 230000003044 adaptive effect Effects 0.000 claims description 11
- 230000036541 health Effects 0.000 claims description 7
- 238000004364 calculation method Methods 0.000 claims description 6
- 239000011159 matrix material Substances 0.000 claims description 5
- 230000006870 function Effects 0.000 claims description 4
- 230000036544 posture Effects 0.000 claims description 4
- 238000003860 storage Methods 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 3
- 230000010354 integration Effects 0.000 claims 1
- 238000001514 detection method Methods 0.000 abstract description 5
- 238000002955 isolation Methods 0.000 abstract description 3
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000004220 aggregation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Evolutionary Computation (AREA)
- Medical Informatics (AREA)
- Software Systems (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Feedback Control In General (AREA)
Abstract
The invention discloses an airplane attitude fault-tolerant control system and method for control plane faults, belongs to the technical field of aircraft control, and aims to solve the problem that the fault-tolerant control complexity of airplane attitudes is high in the prior art. The fault-tolerant control of the attitude of the airplane is realized by the modular design under the condition that multiple surfaces of the airplane have faults in the flying process. The self-adaptive multi-model observer module improves the efficiency of fault detection and isolation of the control surface and provides estimated state and deflection estimation of the control surface; the control surface behavior adjusting module determines a control surface behavior mode according to the fault; the nonlinear dynamic inverse fault-tolerant controller module uses a nonlinear dynamic inverse fault-tolerant controller to perform closed-loop attitude fault-tolerant control; the control distributor module combines the fault control plane deflection estimation, the control plane behavior mode and the control plane virtual input control to generate actual control plane control input information, and the problem of high complexity of airplane attitude fault-tolerant control is solved through the combination of the control distributor module and the control plane virtual input control.
Description
Technical Field
The invention belongs to the technical field of aircraft control, and particularly relates to an aircraft attitude fault-tolerant control system and method for control surface faults.
Background
When the new generation unmanned aerial vehicle finishes the given flight mission, the efficiency is high, and better safety is required. The health state of the control surface of the airplane is monitored, and corresponding operation is adopted according to the health state of the control surface, so that the control surface becomes a necessary part of the unmanned aerial vehicle. However, it is difficult for a small, low-cost fault-tolerant control system for drones to significantly increase the number of actuators and sensors to achieve safer flight. There are technical limitations of fault tolerant control systems and methods, such as: when the control surface is stuck at a non-zero position, the output of the filter can generate deviation, so that the detection accuracy is reduced; control redistribution requires redesigning the controller, which greatly increases the complexity of fault-tolerant control; the linear controller needs to be parametrically varied to cover the entire operating range of the aircraft.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide an aircraft attitude fault-tolerant control system and a control method for control surface faults, and aims to solve the technical problem of high complexity of fault-tolerant control of aircraft attitude in the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme to realize the purpose:
in a first aspect, the invention provides an aircraft attitude fault-tolerant control method for control surface faults, which comprises the following steps:
continuously receiving airplane attitude information of an airplane under the condition of control surface faults, and inputting the airplane attitude information serving as an expected attitude to a nonlinear dynamic inverse fault-tolerant controller module, wherein the nonlinear dynamic inverse fault-tolerant controller module calculates virtual control input of a control surface and throttle control input information;
the control distributor module receives virtual control input information issued by the nonlinear dynamic inverse fault-tolerant controller module, control surface behavior modes issued by the control surface behavior adjusting module and deflection estimators of the control surfaces, issues actual control input information of each control surface, and calculates estimated postures of each control surface under the condition of faults, deflection estimators of the control surfaces of each control surface and conditional probability of fault occurrence in the self-adaptive multi-model observer module;
the control surface behavior adjusting module receives the conditional probability of control surface fault occurrence and the control surface deflection estimators of all the control surfaces, which are issued by the self-adaptive multi-model observer module, calculates new control surface deflection limits, and adjusts the behavior mode of the control surfaces according to the current control surface health condition of the airplane;
and the control distributor module receives the new deflection limit of the control surface, calculates the actual control surface control input information according to the adjusted behavior mode of the control surface, and inputs the actual control surface control input information to the self-adaptive multi-model observer module.
In a second aspect, the present invention provides a control surface fault-tolerant control system for aircraft attitude, including:
the nonlinear dynamic inverse fault-tolerant controller module is connected with the input of the nonlinear dynamic inverse fault-tolerant controller module and the adaptive multi-model observer module, and is used for continuously receiving the attitude information of the airplane and calculating the virtual control input of a control surface and the control input information of an accelerator;
the control distributor module is connected with the nonlinear dynamic inverse fault-tolerant controller module and the control surface behavior adjusting module through the input of the control distributor module, and is used for receiving the virtual control input information issued by the nonlinear dynamic inverse fault-tolerant controller module, the control surface behavior mode issued by the control surface behavior adjusting module and the deflection estimator of the control surface; the output end of the control distributor module is connected with the self-adaptive multi-model observer module and is used for calculating the actual control surface control input information and inputting the actual control surface control input information to the self-adaptive multi-model observer module;
and the input end of the control surface behavior adjusting module is connected with the self-adaptive multi-model observer module and is used for receiving the conditional probability of control surface fault occurrence issued by the self-adaptive multi-model observer module and the control surface deflection estimator of each control surface and calculating new control surface deflection limit.
In a third aspect, the present invention provides a computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the method as described above when executing the computer program.
In a fourth aspect, the invention provides a computer-readable storage medium, in which a computer program is stored, which computer program, when being executed by a processor, realizes the steps of the method as described above.
Compared with the prior art, the invention has the following beneficial effects:
the invention provides an airplane attitude fault-tolerant control system and method for control surface faults. Modeling the fault of the control surface, estimating the conditional probability of possible faults, and isolating the fault when the probability exceeds an alarm value. The control distributor module is combined with the nonlinear dynamic inverse fault-tolerant controller module to compensate for the control plane fault, and the attitude of the unmanned aerial vehicle is adjusted and kept stable. The nonlinear dynamic inverse fault-tolerant controller module can well cope with a nonlinear unmanned aerial vehicle system and a large-range working attitude thereof, the control surface behavior adjusting module determines a control surface behavior model to be used by using the fault condition probability information of each control surface and the deflection estimator of each control surface to compensate attitude influence caused by the faulted control surface, and the problem of high complexity of aircraft attitude fault-tolerant control is solved.
Further, all the control surfaces can be operated independently, the ailerons or elevators can be moved up and down individually or together in one direction, the ailerons can generate a pitch moment, and the elevators can generate a roll moment.
Further, in the case where the pattern 1 is a left aileron failure and the pattern 2 is a right aileron failure, the healthy ailerons are used to generate a roll torque to stabilize the attitude of the aircraft, and the elevators are used to correct an undesirable pitch torque generated by the failed aileron so as not to affect the pitch attitude of the aircraft.
Further, when the mode 3 is a left elevator failure and the mode 4 is a right elevator failure, the yaw amount of the other elevator is first calculated to generate a desired pitch moment, and then the roll torque is corrected by the differential aileron to stabilize the attitude of the aircraft.
Further, in the mode 5, in the case that two control surfaces fail simultaneously, two control surfaces of different types fail, the attitude of the aircraft can still be compensated, but when two elevators are blocked upwards or downwards simultaneously, the ailerons cannot compensate the generated pitching motion. This occurs and the subsequent mode 6 and mode 7 emergency procedures will be entered. Mode 6 is the failure of three control surfaces at the same time and mode 7 is the failure of all control surfaces, both modes occur, meaning that the engine is turned off and the parachute is opened when the aircraft is no longer controlled.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
FIG. 1 is a schematic structural diagram of a control surface fault-tolerant control system for aircraft attitude according to the invention.
FIG. 2 is a flow chart of the control surface fault-tolerant control method for the attitude of the airplane.
FIG. 3 shows control plane fault modeling of the control plane fault-tolerant control system for aircraft attitude according to the invention.
FIG. 4 is a flow chart of the operation of the adaptive multi-model observer module of the present invention.
FIG. 5 is a flow chart of the operation of the nonlinear dynamic inverse fault-tolerant controller module according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined or explained in subsequent figures.
In the description of the embodiments of the present invention, it should be noted that, if the terms "upper", "lower", "horizontal", "inner", etc. are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship which the product of the present invention is used to usually place, it is only for convenience of describing the present invention and simplifying the description, but it is not necessary to indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
Furthermore, the term "horizontal", if present, does not mean that the component is required to be absolutely horizontal, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the embodiments of the present invention, it should be further noted that unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" should be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In order to overcome the technical limitations of the fault-tolerant control system and method, for example: when the control surface is stuck at a non-zero position, the output of the filter can generate deviation, so that the detection accuracy is reduced; control redistribution requires redesigning the controller, which greatly increases the complexity of fault-tolerant control; the linear controller needs to be parametrically varied to cover the entire operating range of the aircraft. The invention provides a fault-tolerant control system and a control method for control surface faults, wherein a self-adaptive multi-model observer module successfully detects the control surface jamming or swinging faults by utilizing nonlinear online estimation of deflection during the control surface faults and reduces the number of required filters. Modeling the fault of the control surface, estimating the conditional probability of possible faults, and isolating the fault when the probability exceeds an alarm value. The control distributor module will recalculate the desired kinetic parameters needed to stabilize the attitude in the event of a multifaceted fault. The nonlinear dynamic inverse fault-tolerant controller module can well deal with the nonlinear unmanned aerial vehicle system and the large-scale working attitude thereof.
An aircraft attitude fault-tolerant control system for control plane faults is shown in fig. 1 and comprises a nonlinear dynamic inverse fault-tolerant controller module, a control distributor module, a self-adaptive multi-model observer module and a control plane behavior adjusting module.
The nonlinear dynamic inverse fault-tolerant controller module continuously receives airplane attitude information and calculates virtual control input of a control surface and throttle control input information;
the control distributor module receives virtual control input information issued by the nonlinear dynamic inverse fault-tolerant controller module, and receives a control surface behavior mode and deflection estimation quantity of a control surface issued by the control surface behavior adjustment module; the control distributor module calculates actual control surface control input information and inputs the actual control surface control input information to the self-adaptive multi-model observer module;
and the control surface behavior adjusting module receives the conditional probability of the occurrence of the control surface faults and the control surface deflection estimators of all the control surfaces, which are issued by the self-adaptive multi-model observer module, and calculates new control surface deflection limits.
Specifically, the method comprises the following steps:
the nonlinear dynamic inverse fault-tolerant controller module comprises: the nonlinear dynamic inverse fault-tolerant controller module is loaded in an onboard computer, subscribes expected attitude information issued by the self-adaptive multi-model observer module, and simultaneously subscribes expected attitude information issued by the flight control task module in the aircraft internal communication module. And performing closed-loop control by using a nonlinear dynamic inverse fault-tolerant controller and combining the subscribed reconstructed attitude information and the expected attitude information to obtain safe and stable virtual control input information of the control surface of the airplane and control input information of the accelerator.
The adaptive multi-model observer module: the airplane-mounted computer subscribes to messages from a conventional sensor necessary for the airplane, namely attitude information of the airplane through an airplane internal communication module. It is also necessary to subscribe to the desired attitude information from the flight control system task modules. The module consists of a plurality of parallel filters, each filter corresponds to a specific control surface fault, and the estimated attitude and the deflection estimation of the control surface under the fault condition are calculated. And then calculating and estimating the conditional probability of the fault of the control surface according to the residual error of each filter and the error covariance matrix. And the estimated attitude value is used for calculating to obtain reconstructed attitude information, attitude reconstruction is carried out, the generated fault control surface is isolated, and the nonlinear dynamic inverse fault-tolerant controller module is convenient to carry out fault-tolerant control.
Control surface behavior adjustment module: fixed wing aircraft configurations typically have five control surfaces: a left aileron, a right aileron, a left elevator, a right elevator, and a rudder. All the control surfaces are independently operable, which means that the ailerons or elevators can be moved up and down individually or together in one direction. Thus, the ailerons can generate a pitch torque and the elevators can generate a roll torque.
The control surface behavior adjusting module subscribes fault condition probability information of each control surface and deflection estimation quantity of each control surface, which are published by the capacity self-adaptive multi-model observer module, and determines a control surface behavior model to be used by using the information to compensate attitude influence caused by the faulted control surface.
Controlling the dispenser module: the control distributor module receives virtual control input information issued by the nonlinear dynamic inverse fault-tolerant controller module and deflection estimators of the control surfaces processed by the control surface behaviors issued by the control surface behavior adjusting module, and generates actual control surface control input information by using the information in combination with new control surface up-and-down deflection limits issued by the control surface behavior adjusting module.
The invention provides an aircraft attitude fault-tolerant control method for control surface faults, which comprises the following steps as shown in figure 2:
continuously receiving airplane attitude information of an airplane under the condition of control surface faults, and inputting the airplane attitude information serving as an expected attitude to a nonlinear dynamic inverse fault-tolerant controller module, wherein the nonlinear dynamic inverse fault-tolerant controller module calculates virtual control input of a control surface and throttle control input information;
the control distributor module receives virtual control input information issued by the nonlinear dynamic inverse fault-tolerant controller module, a control surface behavior mode issued by the control surface behavior adjustment module and deflection estimators of control surfaces, issues actual control input information of each control surface, and calculates estimated postures of each control surface under the condition of fault, deflection estimators of the control surfaces and conditional probability of fault occurrence of each control surface in the self-adaptive multi-model observer module;
the control surface behavior adjusting module receives the conditional probability of the occurrence of the control surface faults and the control surface deflection estimators of all the control surfaces, which are issued by the self-adaptive multi-model observer module, calculates new control surface deflection limits, and adjusts the behavior modes of the control surfaces according to the control surface health conditions of the current airplane;
and the control distributor module receives the new deflection limit of the control surface, calculates the actual control surface control input information according to the adjusted behavior mode of the control surface, and inputs the actual control surface control input information to the self-adaptive multi-model observer module.
Specifically, the method comprises the following steps:
In order to make the adaptive multi-model observer module applicable to all flight attitudes and flight states and to isolate actuator stuck or swinging faults, the attitude information of the aircraft, namely the three-axis angular velocity, the attack angle and the heading angle of the aircraft in the invention, is continuously received.
And 2, calculating the estimated attitude, the estimated deflection quantity of the control surface of each control surface and the fault occurrence conditional probability under the condition of fault of each control surface by using enough filters in combination with control input information of the control surface issued by the control distributor module. The number of filters is consistent with the type of fault detected. And then, calculating the conditional probability of the control surface faults by using the error state covariance matrix and the filter residual error, marking if the fault occurrence probability exceeds an alarm value, and then performing weighted calculation on the estimation state under each control surface fault by using the conditional probability to obtain the final total estimation state. Referring to FIG. 4, a flow diagram of the operation of the adaptive multi-model observer module is shown.
The expression of the adaptive multi-model observer module is shown in equation (1):
y i =F i (z i (k),δ i (k))+w k
Wherein,kin order to be a discrete current time instant,iin order to be a fault,x k the attitude quantity of the airplane at the current moment,u k in order to be the desired input for the task module,x i (k) Based on failureiThe estimated pose of the output of the filter of (a),δ i (k) For the estimation of the amount of deflection of the control surface,F i based on failureiFilter of p i (k) For conditional probability of failure, sigma k In order to be the error covariance matrix,y i in order to observe the output of the device,w k in the form of a random noise, the noise is,r i (k) In order to be the residual of the filter,
in order to estimate the attitude as a whole,z i (k) Is a set variable.
And 3, receiving the control surface fault occurrence conditional probability issued by the self-adaptive multi-model observer module and the control surface deflection estimators of the control surfaces by the control surface behavior adjusting module. A new control plane deflection limit is then calculated. The self-adaptive multi-model observer module marks and isolates a fault control surface, and the control surface behavior adjusting module can adjust the control surface behavior mode according to the current control surface health condition of the airplane, so as to provide the following mode examples.
Mode 3 is a left elevator fault and mode 4 is a right elevator fault. In this mode, a faulty elevator will cause a rolling motion if the healthy elevator does not deflect at the same angle as the faulty elevator. If a healthy elevator is allowed to yaw the same angle to compensate for this unwanted roll motion, an unwanted pitch torque is also produced. And it is difficult to compensate for this undesirable pitch motion by control of the ailerons alone. The proposed solution is: first, to generate the desired pitching moment, the amount of deflection of the other elevator is calculated. The differential ailerons are then used to correct the roll torque to stabilize the attitude of the aircraft.
Mode 5 is a simultaneous two control plane failure. If two control surfaces of different types have faults, the attitude of the airplane can still be compensated by the method, but the two elevators are simultaneously blocked upwards or downwards, and the ailerons cannot compensate the generated pitching motion. This occurs and the subsequent mode 6 and mode 7 emergency procedures will be entered.
Mode 6 is that three control plane faults occur simultaneously, and mode 7 is that all control planes are in faults. These two modes occur, meaning that the aircraft is no longer controlled, and the emergency solution is to turn off the engine and open the parachute.
And 4, the nonlinear dynamic inverse fault-tolerant controller module calculates the error between the current state and the expected attitude by using the estimated aircraft attitude issued by the adaptive multi-model observer module and combining the expected attitude information given by the task module, calculates the error again by combining the error with the attitude generated by the linearized aircraft model, and calculates the virtual control input of the control surface and the throttle control input information by using the error and combining the inverse model, as shown in fig. 5.
The expression of the nonlinear dynamic inverse fault-tolerant controller module is shown as formula (2):
wherein,σ i (k) Information is input for the control surface virtual control,G -1 (x) In order to be a dynamic inverse model,L(x) In order to linearize the model, the model is,k p is a coefficient of proportionality that is,k i is an integral coefficient.
And 5, the control distributor module receives the virtual control input information issued by the nonlinear dynamic inverse fault-tolerant controller module, the control surface behavior mode issued by the control surface behavior adjusting module and the deflection estimator of the control surface. And then actual control surface control input information is calculated, and the actual control surface control input information is input to the self-adaptive multi-model observer module to complete closed-loop detection and control.
The invention provides a control system of an airplane attitude fault-tolerant control method for control surface faults, which comprises the following steps:
the nonlinear dynamic inverse fault-tolerant controller module is used for continuously receiving airplane attitude information of an airplane under the condition of control surface faults and inputting the airplane attitude information into the nonlinear dynamic inverse fault-tolerant controller module as an expected attitude, and the nonlinear dynamic inverse fault-tolerant controller module calculates virtual control input of the control surface and throttle control input information;
the control plane information receiving and estimating module is used for controlling the distributor module to receive virtual control input information issued by the nonlinear dynamic inverse fault-tolerant controller module, control plane behavior modes issued by the control plane behavior adjusting module and deflection estimators of the control planes, issuing actual control input information of each control plane, and calculating estimated postures of each control plane under the condition of faults of each control plane, the deflection estimators of the control planes of each control plane and the conditional probability of the faults under the condition of the self-adaptive multi-model observer module;
the behavior mode adjusting module of the control surface is used for receiving the conditional probability of the occurrence of the fault of the control surface and the control surface deflection estimators of each control surface, which are issued by the self-adaptive multi-model observer module, by the behavior mode adjusting module of the control surface, calculating new control surface deflection limits and adjusting the behavior mode of the control surface according to the current control surface health condition of the airplane;
and the control distributor module is used for receiving the deflection limitation of the new control surface, calculating actual control surface control input information according to the behavior mode of the adjusted control surface, and inputting the actual control surface control input information to the self-adaptive multi-model observer module.
In an embodiment of the present invention, a terminal device includes: a processor, a memory, and a computer program stored in the memory and executable on the processor. The processor realizes the steps of the above method embodiments when executing the computer program. Alternatively, the processor implements the functions of the modules/units in the above device embodiments when executing the computer program.
The computer program may be partitioned into one or more modules/units that are stored in the memory and executed by the processor to implement the invention.
The terminal device can be a desktop computer, a notebook, a palm computer, a cloud server and other computing devices. The terminal device may include, but is not limited to, a processor, a memory.
The processor may be a Central Processing Unit (CPU), other general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, etc.
The memory may be used to store the computer programs and/or modules, and the processor may implement various functions of the terminal device by executing or executing the computer programs and/or modules stored in the memory and calling data stored in the memory.
The modules/units integrated in the terminal device may be stored in a computer-readable storage medium if they are implemented in the form of software functional units and sold or used as separate products. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, etc. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
The invention provides an aircraft attitude fault-tolerant control system for control plane faults, which has the following key points: 1) The fault-tolerant control system has certain robustness, and can deal with uncertainty and external interference of an aircraft model when a fault occurs; 2) The matched fault detection and isolation system can better and more efficiently monitor the control surface state, and the auxiliary fault-tolerant control system adjusts the attitude of the unmanned aerial vehicle; 3) The unmanned aerial vehicle task module takes the faults of the control surface into consideration, and selects a gentle flight attitude to carry out flight tasks under the condition of reduced flight performance.
The invention discloses a control surface fault-tolerant control method for airplane attitude, which adopts a self-adaptive multi-model observer module to realize monitoring and isolation of control surface faults, can work on the whole flight envelope line and can cope with jamming and swinging faults of any position of a control surface. The control distributor module is combined with the nonlinear dynamic inverse fault-tolerant controller module to compensate the control surface faults, so that the attitude of the unmanned aerial vehicle is adjusted and kept stable.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. An aircraft attitude fault-tolerant control method for control surface faults is characterized by comprising the following steps of:
continuously receiving airplane attitude information of an airplane under the condition of a fault of a control surface, and inputting the airplane attitude information serving as an expected attitude into a nonlinear dynamic inverse fault-tolerant controller module, wherein the nonlinear dynamic inverse fault-tolerant controller module calculates virtual control input of the control surface and throttle control input information;
the control distributor module receives virtual control input information issued by the nonlinear dynamic inverse fault-tolerant controller module, control surface behavior modes issued by the control surface behavior adjusting module and deflection estimators of the control surfaces, issues actual control input information of each control surface, and calculates estimated postures of each control surface under the condition of faults, deflection estimators of the control surfaces of each control surface and conditional probability of fault occurrence in the self-adaptive multi-model observer module;
the control surface behavior adjusting module receives the conditional probability of control surface fault occurrence and the control surface deflection estimators of all the control surfaces, which are issued by the self-adaptive multi-model observer module, calculates new control surface deflection limits, and adjusts the behavior mode of the control surfaces according to the current control surface health condition of the airplane;
and the control distributor module receives the new deflection limit of the control surface, calculates the actual control surface control input information according to the adjusted behavior mode of the control surface, and inputs the actual control surface control input information to the self-adaptive multi-model observer module.
2. The control surface fault-tolerant control method for aircraft attitude of claim 1, characterized in that the calculation of the estimated attitude under each control surface fault is as follows:
wherein,
in order to estimate the attitude as a whole,kin order to be a discrete current time instant,iin order to be a fault,x i (k) Based on failureiThe estimated pose of the output of the filter of (2),p i (k) Is a conditional probability of failure, and
，λ i (k) Is a conditional probability coefficient, and
，
to solve for the fixed formula part of the conditional probability,r i (k) Is a filter residual, an
，TIs the length of time between the two moments in time,y i to observe the output, andy i =F i (z i (k),δ i (k))+w k ，F i in order for the filter to be fault-based,z i (k) Is a collection of variables, and
，δ i (k) For the estimation of the amount of deflection of the control surface,w k in order to be uncertain and the amount of error,u k as desired input to the task module, sigma k Is an error covariance matrix, and
and E is a mean value function,x k the attitude quantity of the airplane at the current moment.
3. The fault-tolerant control method for the attitude of an aircraft facing a control surface fault according to claim 2, characterized in that the virtual control input of the control surface is calculated as follows:
wherein,σ i (k) Information is input for the virtual control of the control surface,G -1 (x) In order to be a dynamic inverse model,L(x) In order to linearize the model, the model is,k p is a coefficient of proportionality that is,k i is an integral coefficient.
4. An aircraft attitude fault-tolerant control system for control plane faults is characterized by comprising:
the nonlinear dynamic inverse fault-tolerant controller module is connected with the input of the nonlinear dynamic inverse fault-tolerant controller module and the adaptive multi-model observer module, and is used for continuously receiving the attitude information of the airplane and calculating the virtual control input of a control surface and the control input information of an accelerator;
the control distributor module is connected with the nonlinear dynamic inverse fault-tolerant controller module and the control surface behavior adjusting module through the input of the control distributor module, and is used for receiving the virtual control input information issued by the nonlinear dynamic inverse fault-tolerant controller module, the control surface behavior mode issued by the control surface behavior adjusting module and the deflection estimator of the control surface; the output end of the control distributor module is connected with the self-adaptive multi-model observer module and is used for calculating actual control surface control input information and inputting the actual control surface control input information to the self-adaptive multi-model observer module;
and the input end of the control surface behavior adjusting module is connected with the self-adaptive multi-model observer module and is used for receiving the conditional probability of control surface fault occurrence issued by the self-adaptive multi-model observer module and the control surface deflection estimator of each control surface and calculating new control surface deflection limit.
5. The control surface fault-tolerant aircraft attitude control system according to claim 4, further comprising an estimated attitude calculation module and a virtual control input calculation module;
the estimation attitude calculation module is used for calculating the estimation attitude under the condition of each control surface fault, and specifically comprises the following steps:
the virtual control input calculation module is used for calculating virtual control input of the control surface, and specifically comprises the following steps:
wherein,σ i (k) Information is input for the control surface virtual control,G -1 (x) In order to be a dynamic inverse model,L(x) In order to linearize the model, the model is,k p is a coefficient of proportionality that is,k i is an integration coefficient.
6. The control plane fault-tolerant control system for aircraft attitude of claim 4, wherein the adaptive multi-model observer module is loaded in an on-board computer and subscribes to information from conventional sensors necessary for the aircraft and expected attitude information through an aircraft internal communication module.
7. The aircraft attitude fault-tolerant control system for rudder surface faults according to claim 4, wherein the rudder surface behavior adjusting module subscribes fault condition probability information of each rudder surface issued by the adaptive multi-model observer module and a deflection estimator of each rudder surface, and determines a rudder surface behavior model which should be used by using the fault condition probability information of each rudder surface and the deflection estimator of each rudder surface to compensate attitude influence caused by the faulted rudder surface;
the control surface behavior adjustment module issues the required control surface behavior modes comprising a mode 1, a mode 2, a mode 3, a mode 4, a mode 5, a mode 6 and a mode 7;
the modes 1 to 4 are single control surface fault modes: a mode 1 is a left aileron fault, a mode 2 is a right aileron fault, a mode 3 is a left elevator fault, and a mode 4 is a right elevator fault;
the mode 5 is that two control surface faults occur simultaneously;
the mode 6 is that three control surface faults occur simultaneously;
the mode 7 is that all control surfaces are in failure.
8. The control surface fault-tolerant control system for airplane attitude of aircraft according to claim 4, characterized in that the nonlinear dynamic inverse fault-tolerant controller module is loaded in an on-board computer and subscribes to expected attitude information and estimated state information issued by the adaptive multi-model observer module; and performing closed-loop control by using a nonlinear dynamic inverse fault-tolerant controller module and combining the expected attitude information and the estimated state information to obtain virtual control input information of the control surface of the airplane and control input information of the accelerator.
9. A computer arrangement comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 1-3 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1-3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211390758.1A CN115437259A (en) | 2022-11-07 | 2022-11-07 | Airplane attitude fault-tolerant control system and control method for control surface fault |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211390758.1A CN115437259A (en) | 2022-11-07 | 2022-11-07 | Airplane attitude fault-tolerant control system and control method for control surface fault |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115437259A true CN115437259A (en) | 2022-12-06 |
Family
ID=84253118
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211390758.1A Pending CN115437259A (en) | 2022-11-07 | 2022-11-07 | Airplane attitude fault-tolerant control system and control method for control surface fault |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115437259A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115629547A (en) * | 2022-12-08 | 2023-01-20 | 西北工业大学 | Airplane airborne fault-tolerant control method and system for control plane fault |
| CN116224762A (en) * | 2023-04-28 | 2023-06-06 | 西北工业大学 | Integrated driving method for aircraft rudder fault sensing and protection |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102707708A (en) * | 2012-05-25 | 2012-10-03 | 清华大学 | Method and device for diagnosing faults of multi-mode flight control system |
| CN103324202A (en) * | 2013-07-12 | 2013-09-25 | 无锡华航电子科技有限责任公司 | Fault tolerance flight control system and method based on control surface faults |
| CN109343507A (en) * | 2018-10-16 | 2019-02-15 | 北京理工大学 | A kind of fault detection and shielding system and method |
| CN112947392A (en) * | 2021-04-05 | 2021-06-11 | 西北工业大学 | Flight control system actuator and sensor composite tiny fault estimation method based on robust observer |
| CN114035543A (en) * | 2021-11-05 | 2022-02-11 | 中国空气动力研究与发展中心空天技术研究所 | Self-repairing control method for airplane in damaged state |
| CN114578691A (en) * | 2022-02-11 | 2022-06-03 | 南京航空航天大学 | Active anti-interference fault-tolerant attitude control method of flying wing unmanned aerial vehicle considering control plane fault |
-
2022
- 2022-11-07 CN CN202211390758.1A patent/CN115437259A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102707708A (en) * | 2012-05-25 | 2012-10-03 | 清华大学 | Method and device for diagnosing faults of multi-mode flight control system |
| CN103324202A (en) * | 2013-07-12 | 2013-09-25 | 无锡华航电子科技有限责任公司 | Fault tolerance flight control system and method based on control surface faults |
| CN109343507A (en) * | 2018-10-16 | 2019-02-15 | 北京理工大学 | A kind of fault detection and shielding system and method |
| CN112947392A (en) * | 2021-04-05 | 2021-06-11 | 西北工业大学 | Flight control system actuator and sensor composite tiny fault estimation method based on robust observer |
| CN114035543A (en) * | 2021-11-05 | 2022-02-11 | 中国空气动力研究与发展中心空天技术研究所 | Self-repairing control method for airplane in damaged state |
| CN114578691A (en) * | 2022-02-11 | 2022-06-03 | 南京航空航天大学 | Active anti-interference fault-tolerant attitude control method of flying wing unmanned aerial vehicle considering control plane fault |
Non-Patent Citations (2)
| Title |
|---|
| 程堂明等: "运载火箭伺服机构故障检测与诊断的扩展多模型自适应方法", 《国防科技大学学报》 * |
| 邹阳: "倾转旋翼机容错飞行控制律设计技术研究", 《中国优秀硕士学位论文全文数据库工程科技Ⅱ辑》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115629547A (en) * | 2022-12-08 | 2023-01-20 | 西北工业大学 | Airplane airborne fault-tolerant control method and system for control plane fault |
| CN115629547B (en) * | 2022-12-08 | 2023-04-25 | 西北工业大学 | Control surface fault-oriented aircraft airborne fault-tolerant control method and system |
| CN116224762A (en) * | 2023-04-28 | 2023-06-06 | 西北工业大学 | Integrated driving method for aircraft rudder fault sensing and protection |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US6085127A (en) | Fault tolerant automatic control system utilizing analytic redundancy | |
| EP0830647B1 (en) | Fault tolerant automatic control system utilizing analytic redundancy | |
| Saied et al. | Fault diagnosis and fault-tolerant control strategy for rotor failure in an octorotor | |
| Bateman et al. | Fault diagnosis and fault-tolerant control strategy for the aerosonde UAV | |
| CN113568419B (en) | Variable-load four-rotor unmanned aerial vehicle fault-tolerant control method | |
| Liu et al. | Retrofit fault‐tolerant tracking control design of an unmanned quadrotor helicopter considering actuator dynamics | |
| CN115437259A (en) | Airplane attitude fault-tolerant control system and control method for control surface fault | |
| CN104765312B (en) | Implementation method for reconfigurable aircraft control system | |
| CN108628167B (en) | Fault-tolerant control method of flight control system based on adaptive distribution technology | |
| CN111781942B (en) | Fault-tolerant flight control method based on self-constructed fuzzy neural network | |
| CN110531778A (en) | A kind of estimation of multi-rotor unmanned aerial vehicle autopilot blade damage and self-healing control method | |
| CN111522241A (en) | Active fault-tolerant control method and device based on fixed time observer | |
| Emami et al. | Intelligent trajectory tracking of an aircraft in the presence of internal and external disturbances | |
| Zhong et al. | Active fault-tolerant tracking control of a quadrotor with model uncertainties and actuator faults | |
| Péni et al. | Supervisory fault tolerant control of the GTM UAV using LPV methods | |
| CN113568423A (en) | Intelligent fault-tolerant control method of quad-rotor unmanned aerial vehicle considering motor faults | |
| Gururajan et al. | Performance evaluation of neural network based approaches for airspeed sensor failure accommodation on a small UAV | |
| CN113128035A (en) | Civil aircraft flight control sensor signal reconstruction fault-tolerant control method | |
| Bateman et al. | Actuators fault diagnosis and tolerant control for an unmanned aerial vehicle | |
| Cheng et al. | Semi-proximal ADMM for model predictive control problem with application to a UAV system | |
| CN114253137A (en) | Unmanned aerial vehicle system fault diagnosis and fault tolerance control method based on control distribution | |
| Boskovic et al. | Robust supervisory fault-tolerant flight control system | |
| CN115933377A (en) | Unmanned aerial vehicle trajectory fault-tolerant control method and system for actuator faults | |
| Zhong et al. | Active fault-tolerant tracking control of a quadrotor uav | |
| CN115685760A (en) | Four-rotor hybrid fault-tolerant control method and system for actuator fault |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |