Four-rotor aircraft fault diagnosis method

A four-rotor aircraft and fault diagnosis technology, which is applied in the field of aircraft, can solve problems such as high cost and complicated process, and achieve the effect of high precision, simple operation process and easy mastery

Active Publication Date: 2015-09-30
西安帝和电子科技有限公司
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Problems solved by technology

[0004] The purpose of the present invention is to provide a fault diagnosis method for a four-rotor aircraft, which solves the problems of complex process and high cost in the existing aircraft fault diagnosis, and can intuitively see whether the aircraft has a fault and the time when the fault occurs

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Embodiment Construction

[0038] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0039] A kind of quadrotor aircraft fault diagnosis method of the present invention, specifically comprises the following steps:

[0040] Step 1: Measure the flying height of the quadrotor;

[0041] The specific method is: by changing the failure factor of the actuator, a fault is imposed on the quadrotor aircraft with a stable flight state, and the flight height of the quadrotor aircraft after the fault is collected through the data acquisition card;

[0042] Step 2: Estimate the flying height of the quadrotor aircraft by ion filtering;

[0043] Specifically follow the steps below:

[0044] Step 2.1: Use the system state transition equation to extract the state of the prior particle at time k The state transition equation of the system is:

[0045] z · ...

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Abstract

The invention discloses a four-rotor aircraft fault diagnosis method, which concretely comprises the following steps of 1, measuring the flight height of a four-rotor aircraft; 2, estimating the flight height of the four-rotor aircraft through an ion filter; 3, comparing the measuring value in the first step and the estimating value in the second step, calculating the residual difference and drawing the residual different curve; 4, judging whether faults occur or not and the fault occurring time according to the residual difference curve in the third step. The method has the advantages that the fault is artificially exerted through changing the failure factor of an executor, the aircraft cannot be damaged, and safety and reliability are realized; the ion filtering is adopted for estimating the height of the aircraft; a random sample is used for approximately expressing the probability density function; the sample average value is used for replacing integral operation; the operation process is simple; the precision is high; the residual difference of the measuring value and the estimating value is calculated, and the residual difference curve is drawn; the fault occurring moment of the aircraft is visually observed through the residual difference curve.

Description

technical field [0001] The invention belongs to the technical field of aircraft and relates to a fault diagnosis method for a quadrotor aircraft. Background technique [0002] Quadrotor aircraft, also known as quadrotor helicopter, is an aircraft with 4 propellers and the propellers cross in a cross shape. It can be used with other miniature cameras to record aerial videos. It has vertical take-off and landing, stable hovering and autonomous cruising capabilities. It is used in military It can be widely used in aerial photography, power inspection, environmental monitoring, forest fire prevention, disaster inspection, anti-terrorism lifesaving, military reconnaissance, battlefield assessment and other fields. Sex is very demanding. [0003] It is precisely because of the high reliability requirements of the aircraft that its fault diagnosis becomes a very important issue. Existing aircraft fault diagnosis tools mainly include fault analysis automatic modeling platform deve...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B23/02
CPCG05B23/0256
Inventor 弋英民黄莹
Owner 西安帝和电子科技有限公司
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