A Fault Diagnosis and Fault-Tolerant Control Device Based on Joint Multi-Observer

Abstract

The invention discloses a plurality of united observer based fault diagnosis and fault-tolerant control device and a method and belongs to the field of aerospace. The plurality of united observer based fault diagnosis and fault-tolerant control device comprises following modules of a fault injection module, a fault diagnosis module, a real time monitoring module and a hardware control module. According to the method, the problem that traditional observer based fault diagnosis methods are limited by conditions is mainly solved, the operation is simple, the implementability is high, and the method can be used for diagnosing faults of actuating mechanisms of a four rotor wing helicopter and verifying feasibility of state monitoring.

Description

technical field [0001] The invention belongs to the technical field of helicopter fault-tolerant control, in particular to a fault diagnosis and fault-tolerant control device and method based on a combined multi-observer. Background technique [0002] The quadrotor helicopter attitude control system is an important part to ensure the normal operation of the helicopter. The quadrotor helicopter outputs three attitude angle signals through four actuators, which belongs to the overdrive system, which can effectively improve the structural load capacity and response speed. [0003] During the operation of the system, it will inevitably receive external disturbances or failures. A failure refers to a large deviation in at least one characteristic or parameter of the system, which exceeds the acceptable range. At this time, the performance of the system is obviously lower than its normal level, so it is difficult to complete its expected function. The classification of faults ca...

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Problems solved by technology

[0006] At present, the flight control system generally adopts the method based on hardware redundancy to improve reliability, but it will also increase the cost, helicopter weight and system complexity

Hardware fault injection requires a complete fault injection system, which has high requirements, complex operation, and high cost; while fault diagnosis based on analytical redundancy uses advanced control theory to estimate the location, size, and system state vector of the fault, effectively suppressing the effect of the fault. The monitoring system is running normally, but there is no relevant description in the prior art

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