A Dual-Granularity Fault Diagnosis Method for Quadrotor Aircraft Based on Hybrid Model
A quadrotor aircraft and hybrid model technology, applied in the direction of instruments, adaptive control, control/regulation systems, etc., can solve problems such as complex structural fault research, avoid complex structural fault modeling, improve accuracy and reliability, The effect of extending the range
Active Publication Date: 2017-03-29
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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[0007] (2) In terms of fault types, most literature considers the fault diagnosis of quadrotor aircraft under actuator faults, a small amount of literature considers the fault diagnosis of sensors, and structural faults are rare due to complex fault models and various fault types Studied
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[0033] The specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings.
[0034] combine figure 1 , a dual granularity fault diagnosis method for quadrotor aircraft based on hybrid model proposed by the present invention, which includes analyzing various physical effects affecting quadrotor flight, to determine the modeling category of prior model and non-parametric model; for non-parametric model, measure the degree of nonlinearity; select the appropriate parameter identification method according to the degree of nonlinearity, and establish a quadrotor aircraft hybrid model; divide the granularity level of the process variable according to the mixed model; judge the channel where the fault occurs according to the coarse-grained level, and determine it according to the fine-grained level The component where the fault occurs; the specific implementation steps are as follows:
[0035] Step A: A...
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The invention relates to a four-rotor aircraft dual-granularity fault diagnosis method based on a hybrid model. The method includes the steps that various physical effects affecting flight of four rotors are analyzed so that modeling categories of a prior model and a non-parameter model can be determined; for the non-parameter model, a nonlinearity degree is measured; according to the nonlinearity degree, an appropriate parameter identification method is selected, and the four-rotor aircraft hybrid model is established; according to the hybrid model, granularity levels of process variables are divided; according to the coarse granularity level, channels where faults occur are judged, components where faults occur are determined according to the fine granularity level, and then dual-granularity fault diagnosis is achieved. The structural features of the hybrid model are fully utilized, and the method is suitable for feasibility testing of process detection and diagnosis of four-rotor helicopter structure faults.
Description
technical field [0001] The invention relates to the technical field of fault diagnosis of aviation aircraft, in particular to a dual granularity fault diagnosis method for quadrotor aircraft based on a hybrid model. Background technique [0002] Quadrotor aircraft is a typical modern complex system. Compared with fixed-wing aircraft, it has more complex aerodynamic characteristics and more special flight states. It requires higher-precision mathematical models and more robust control laws to ensure flight quality. and flight safety. [0003] The traditional modeling methods of quadrotor aircraft are roughly divided into mechanism modeling and data-driven modeling. Mechanism modeling parameters have strong interpretability and model extension, but for modern complex systems such as multivariable, nonlinear, and strong coupling, modeling is difficult; data-driven modeling does not require prior knowledge of process objects, but Model accuracy and generalization are highly de...
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IPC IPC(8): G05B13/04
Inventor 王岳姜斌陆宁云
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS