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Health performance evaluation method of multi-rotor aircraft under atmospheric turbulence disturbance

A technology of multi-rotor aircraft and atmospheric turbulence, applied in the direction of instruments, electrical digital data processing, computer-aided design, etc., to achieve the effects of improving accuracy and rationality, overcoming limitations, and improving applicability and accuracy

Active Publication Date: 2020-07-28
BEIJING TECHNOLOGY AND BUSINESS UNIVERSITY
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Problems solved by technology

[0007] In order to make up for the deficiencies in the existing multi-rotor flight reliability problems, the present invention proposes a health performance evaluation method for a multi-rotor aircraft under atmospheric turbulence disturbance based on "health" to solve the problem of multi-rotor flight reliability Provide a new way of thinking and effective solutions to the problem

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  • Health performance evaluation method of multi-rotor aircraft under atmospheric turbulence disturbance
  • Health performance evaluation method of multi-rotor aircraft under atmospheric turbulence disturbance
  • Health performance evaluation method of multi-rotor aircraft under atmospheric turbulence disturbance

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Embodiment 1

[0155] Step 1: Establish a multi-rotor random hybrid system model under atmospheric turbulence disturbance.

[0156] Consider three scenarios: actuator efficiency anomaly, GPS anomaly and barometer anomaly. Therefore, to define the system mode of the multi-rotor q 1 Indicates the sensor health mode, q 2 Indicates the abnormal mode of GPS, q 3 Indicates a barometer abnormal mode. The continuous dynamic behavior of the multi-rotor in each mode has process equations and measurement equations. For the process equation, all modes are the same, which can be obtained from formula (10), satisfying:

[0157]

[0158] Each mode of the multi-rotor corresponds to different measurement equations. In the sensor health mode, it is considered that the state variables of the multi-rotor can be directly measured, that is, y=x+Γ v v; In GPS anomaly mode, consider the measured { e p x , e p y} is unreliable, the measurement equation needs to delete the first two lines, that is, canc...

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Abstract

The invention discloses a health performance evaluation method for a multi-rotor aircraft under atmospheric turbulence disturbance, and belongs to the technical field of flight reliability and safetyanalysis of unmanned aerial vehicles. The method comprises the following steps: firstly, establishing a random hybrid system model of the multi-rotor aircraft under atmospheric turbulence disturbance,wherein the model comprises flight kinematics and dynamics characteristics of the multi-rotor aircraft, a wind disturbance model and an atmospheric turbulence wind field simulation model; settting different modes to represent abnormal behaviors of different types of sensors, and modeling the change of the health performance of the aircraft through mode jump; then, estimating a probability densityfunction of the hybrid state of the multi-rotor aircraft by utilizing an interactive multi-model-particle filtering algorithm; and finally, proposing a fuzzy health degree as a health index to quantitatively evaluate the health performance of the multi-rotor aircraft. According to the method, the problem that the flight health performance of the multi-rotor aircraft is difficult to quantitativelyevaluate in the flight process can be solved, and the method is an effective solution for guaranteeing the flight reliability and safety of the multi-rotor aircraft.

Description

technical field [0001] The invention belongs to the field of flight reliability and safety analysis of unmanned aircraft, in particular to a method for evaluating the health performance of a multi-rotor aircraft under atmospheric turbulence disturbance. Background technique [0002] Multi-rotor aircraft (hereinafter referred to as multi-rotor), as an unmanned aerial vehicle capable of vertical take-off and landing, has received great attention in the field of aeronautical engineering and is widely used in various military and civilian scenarios. From the perspective of flight reliability and safety, any abnormality and failure of the multi-rotor itself will lead to a huge disaster. [0003] At present, through the technical framework of fault prediction and health management, health assessment is used to analyze the observation data of the multi-rotor, and combined with the model to evaluate whether the current working state and overall performance of the multi-rotor are nor...

Claims

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Application Information

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IPC IPC(8): G06F30/20G06F30/28G06F111/10G06F119/10G06F119/14G06F113/08
Inventor 赵峙尧王小艺许继平于家斌王昭洋
Owner BEIJING TECHNOLOGY AND BUSINESS UNIVERSITY
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