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
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[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
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[0122]
[0123] In the table, ε t (t) is a step signal,...
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