Attitude health management method for helicopters based on hierarchical structure

A health management, hierarchical structure technology, applied in attitude control, non-electric variable control, instruments, etc., can solve problems such as early warning and lack of fault prediction capabilities

Active Publication Date: 2019-08-23
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In order to make up for the lack of attitude control of single helicopters extended to helicopter group attitude control, and to solve the lack of early warning and failure prediction capabilities of HUMS in attitude health management, and to improve the accuracy of helicopter group attitude control, to achieve health management and helicopter Swarm Consistency Control Objectives, Requiring a New Approach to Helicopter Swarm Attitude Health Management

Method used

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  • Attitude health management method for helicopters based on hierarchical structure
  • Attitude health management method for helicopters based on hierarchical structure
  • Attitude health management method for helicopters based on hierarchical structure

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Experimental program
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Embodiment approach

[0071] The design process of the posture health management method based on the hierarchical structure proposed by the present invention is as follows: figure 1 As shown, if the fault detection layer determines the system attitude output estimation error Less than or equal to the output estimation error threshold χ set offline i , then enter the health consistency control layer, the specific health control law and the constraint solution L of the health consistency control layer health , F health ,Q health ,Π health The calculation method of is as follows:

[0072] Step 1. Obtain the attitude system model and fault model of the helicopter group.

[0073] Select Quanser's three-degree-of-freedom helicopter experimental platform, such as figure 2 The physical parameters and values ​​of the helicopter attitude system model are shown in Table 1. Select 5 helicopter systems with three degrees of freedom, and the helicopter system passes image 3 The structures shown are ...

Embodiment 2

[0117] The design flow chart of the posture health management method based on the hierarchical structure proposed by the present invention is as follows: figure 1 As shown, if the fault detection layer determines the system attitude output estimation error Greater than the output estimation error threshold χ set offline i , then enter the fault-tolerant consistency control layer, the specific fault-tolerant control law and the constrained solution L of the fault-tolerant consistency control layer FTC , F FTC ,Q FTC ,Π FTC The calculation method of is as follows:

[0118] In this embodiment, steps 1-3 are consistent with steps 1-3 in Embodiment 1.

[0119] Wherein, the present embodiment injects two groups of failures (the first group and the second group), specifically as shown in Table 2:

[0120] Table 2 Partial voltage failure faults and voltage additive faults of the first and second groups

[0121]

[0122]

[0123] In the table, ε t (t) is a step signal,...

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Abstract

The invention discloses an attitude health management method for helicopters based on a hierarchical structure. The hierarchical structure for attitude health management of the helicopters comprises an attitude model and fault model layer of the helicopters, a fault detection layer, a health consistency layer, a fault-tolerant consistency layer and a virtual connection layer. A triggering mechanism for threshold setting of the fault detection layer determines the selection of a control law of the helicopters. If a health channel of the fault detection layer is triggered, the health consistencycontrol layer is accessed; and if a fault-tolerant channel of the fault detection layer is triggered, the fault-tolerant consistency control layer is accessed. Finally, health management and global consistency control objective are realized in the virtual connection layer. The method has the advantages that the structure is simple, the implementation logic is clear, the effect is obvious, the novel attitude health management method for the helicopters is provided, and the attitude control precision is improved, the health management is realized, a system for the helicopters has robustness andfault tolerance, and the reliability and the safety of the helicopters are further ensured.

Description

technical field [0001] The invention relates to an attitude health management method of a helicopter group based on a hierarchical structure, and belongs to the technical field of aircraft attitude control. Background technique [0002] Because of its characteristics of hovering in the air, vertical takeoff and landing, low altitude and low speed, and flexible flight, helicopters have a wide range of applications in military and civilian fields, such as ground detection, traffic assessment, forest fire monitoring, and crime prevention. The cooperative control of the helicopter group means that the attitude and trajectory of each helicopter must be close to synchronization. Considering that helicopters have nonlinear and unstable dynamics and significant cross-coupling between control channels, as well as being affected by external airflow disturbances, solutions to the robust consensus tracking problem for cooperative control of helicopter groups include PID control, h ∞ c...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08
CPCG05D1/0825
Inventor 柳春姜斌张柯陈谋盛守照甄子洋
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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