A Fault Separability Evaluation Method for UAV Flight Control System

Abstract

The invention relates to a fault separability evaluation method of an unmanned aerial vehicle flight control system. In order to realize the optimal design of the UAV flight control system, it is necessary to evaluate the difficulty of system fault separation in the UAV design stage. The present invention establishes the UAV flight control system model according to the UAV flight control system principle and fault type; uses the equivalent space method to construct the fault diagnosis residual generator; uses the cosine distance of the residual vector caused by different faults to establish the fault separation condition ; Using the similarity of the residual vector to quantitatively evaluate the difficulty of fault separation, combining the distance similarity and direction similarity in pattern recognition, an improved quantitative evaluation index of fault separability is proposed. The evaluation method can comprehensively evaluate the difference in distance and direction of residual vector caused by different faults, and provide a reference for the design of UAV system and fault separation algorithm.

Description

technical field [0001] The invention relates to a fault separability evaluation method of a UAV flight control system, which is used to evaluate the difficulty of implementing fault separation for actuator faults and sensor faults in the UAV flight control system, and belongs to the UAV system fault separation technology field. Background technique [0002] UAVs are widely used in modern reconnaissance, engineering surveying and mapping, and scientific experiments, and have considerable military and civilian prospects. The UAV flight control system is the control system for the UAV to achieve autonomous or semi-autonomous flight. It plays a vital role in stabilizing and controlling the attitude of the UAV and managing the UAV to complete tasks. [0003] UAVs are susceptible to complex environmental factors during flight, and the flight control system will inevitably fail, which will easily cause the UAV to fail to complete the task, and even cause the UAV to crash. At pres...

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Problems solved by technology

The paper "Research on Diagnosability Method Based on System Redundancy Relationship [J]. Aerospace Control, 2013, 31(6): 10-16, 26" written by Wang Zhenxi et al. uses whether the fault variable can cause the change of the output variable to construct the correlation matrix, Using the correlation matrix to analyze fault separability, but this method can only qualitatively judge whether different faults in the system can be separated, and cannot quantitatively evaluate the difficulty of fault separation, and fails to consider the impact of unknown input on fault separation

The patent written by Wang Dayi et al. "A method for determining the diagnosability of spacecraft control systems under the influence of noise [P]. China, 201410827895.6" uses the equivalent space method to generate fault diagnosis residuals, and transforms the evaluation problem of fault separability into It is a residual vector distance similarity discrimination problem or a direction similarity discrimination problem, but this method can only quantitatively evaluate the difference in the distance or direction of the residual error, and cannot comprehensively evaluate the difference in the distance and direction of the residual vector

[0005] In short, the existing fault separability evaluation methods can only quantitatively evaluate the difference in distance or direction of the residual vector caused by different faults, and there is no literature or patent proposed fault separability evaluation method that can comprehensively evaluate the residual The difference of vectors in distance and direction and combining qualitative and quantitative methods, fault separability evaluation methods need to be further studied

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