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Data driving method of fault detection and fault separation of drone flight control system

A flight control system, fault detection technology, applied in the direction of electrical testing/monitoring

Inactive Publication Date: 2018-01-19
SHANDONG UNIV OF SCI & TECH
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AI Technical Summary

Problems solved by technology

No literature or patent has proposed a comprehensive analysis of fault detection and fault separation methods for nonlinear UAV flight control systems, so this topic needs further research

Method used

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  • Data driving method of fault detection and fault separation of drone flight control system
  • Data driving method of fault detection and fault separation of drone flight control system
  • Data driving method of fault detection and fault separation of drone flight control system

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Embodiment

[0174] The present invention takes a UAV longitudinal flight control system as an example to analyze data-driven fault detection and separation, and firstly explains the UAV longitudinal flight control system:

[0175] The input variable is the elevator deflection δ e and throttle stick deflection δ p , which are used to control the velocity channel and altitude channel respectively; the sensors are configured as an angle-of-attack sensor, airspeed tube, pitch gyro, vertical gyro and barometric altimeter to measure the angle of attack α, air-time Velocity V, pitch rate q, pitch angle θ, and height H, and assume that the system sensor has no hardware redundancy, that is, a physical quantity is measured by only one sensor.

[0176] Considering that the UAV is inevitably affected by disturbance factors such as atmospheric turbulence and gusts during flight, the longitudinal motion equation of the UAV in the changing wind field is established as follows:

[0177]

[0178]Amon...

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Abstract

The invention relates to a data driving method of fault detection and fault separation of a drone flight control system. The method comprises steps of based on actual flight data under normal and fault conditions of a drone, by use of normal data, establishing a data model based on multivariable statistical analysis and acquiring thresholds of T2 monitoring statistic quantity and SPE monitoring statistic quantity; by use of fault data, calculating T2 monitoring statistic quantity and SPE monitoring statistic quantity of each sample point after the occurrence of a fault and comparing the statistic quantities with the thresholds so as to obtain fault detection results; by use of a contribution graph-based method, calculating contribution values to two statistical results of each variable after the occurrence of the fault so as to obtain an accumulated contribution graph; and finally, by use of the contribution graph and the accumulated contribution graph, determining fault variables andobtaining fault separation results. According to the invention, an aliasing problem of different types of faults in the actual flight system can be effectively solved; and reference basis is providedfor analysis of drone system designing, fault positioning and fault transmission methods.

Description

technical field [0001] The invention relates to a data-driven method for fault detection and fault separation of a UAV flight control system, which is used for qualitative and quantitative analysis of UAV flight control system faults from a data-driven perspective, and belongs to the technical field of UAV system fault diagnosis . Background technique [0002] At present, most of the research results of fault diagnosis of UAV flight control system are based on the method of analytical model. The main characteristic of the method based on the analytical model is that it cannot do without the precise mathematical model, and the uncertainty of the model makes the fault diagnosis more difficult. Moreover, the UAV models used in most researches are linear, while the flight process of real UAVs is nonlinear, and is affected by a series of factors such as atmospheric disturbance and external interference, which further increases the difficulty of fault diagnosis. However, the dat...

Claims

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Application Information

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IPC IPC(8): G05B23/02
Inventor 钟麦英李明虎赵岩周东华陈杰
Owner SHANDONG UNIV OF SCI & TECH
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