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A Data-Driven Method for Fault Detection and Fault Separation of UAV Flight Control System

A flight control system, fault detection technology, applied in electrical testing/monitoring, etc.

Inactive Publication Date: 2020-02-14
SHANDONG UNIV OF SCI & TECH
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  • Abstract
  • Description
  • Claims
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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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  • A Data-Driven Method for Fault Detection and Fault Separation of UAV Flight Control System
  • A Data-Driven Method for Fault Detection and Fault Separation of UAV Flight Control System
  • A Data-Driven Method for Fault Detection and Fault Separation of UAV 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-driven method for fault detection and fault separation of an unmanned aerial vehicle flight control system. The present invention is based on the actual flight data of the UAV under normal and fault conditions, uses the normal data to establish a data model based on multivariate statistical analysis, and obtains T 2 and SPE two kinds of monitoring statistics threshold; then use the fault data to calculate each sampling point T after the fault occurs 2 and SPE two statistics, and compared with the threshold to obtain the fault detection results, and then use the method of contribution graph to calculate the contribution value of each variable to the two statistical results after the fault occurs, and then obtain the cumulative contribution graph. Finally, the fault variable is determined by using the contribution graph and the cumulative contribution graph, and the fault separation result is obtained. The fault detection and separation method can effectively solve the problem of different types of fault aliasing in the actual flight system, and provide a reference for the UAV system design and analysis of fault location and fault propagation 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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Patent Type & Authority Patents(China)
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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