Unmanned aerial vehicle actuator real-time safety performance evaluation method based on two-stage observer

Abstract

The invention discloses an unmanned aerial vehicle actuator real-time safety performance evaluation method based on a two-stage observer, and relates to the field of unmanned aerial vehicles, and themethod comprises the steps: obtaining a test control instruction of an unmanned aerial vehicle actuator and test position data of a previous moment and a current moment; enabling the trained fault detection observer to obtain estimated test position data at the current moment according to the test control instruction and the test position data at the previous moment; obtaining a test residual error at the current moment according to the estimated test position data at the current moment and the test position data at the current moment; enabling a trained adaptive threshold observer to obtain an adaptive threshold at the current moment according to the test control instruction and the test residual error at the current moment; and determining the safety performance index of the unmanned aerial vehicle brake at the current moment according to the test residual error at the current moment and the self-adaptive threshold value at the current moment.

Description

technical field [0001] The invention relates to the field of unmanned aerial vehicles, in particular to a method for evaluating the real-time safety performance of an unmanned aerial vehicle actuator based on a dual-stage observer. Background technique [0002] With its unique advantages, UAVs are widely used in military and civilian surveying and mapping, disaster prevention and other fields. Due to the increasingly rich functions of UAVs, the system complexity of UAVs has also increased. The safety assessment becomes an essential element in the UAV airworthiness certification process, and the results of the analysis determine the inherent safety level. The UAV safety assessment is based on a set of safety regulations and a system model, including the aircraft's nominal behavior and failure mode behavior. The equipment in each system of the UAV is used as the underlying object of the safety evaluation system model to jointly support the safety evaluation of the UAV. Diff...

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Problems solved by technology

[0004] The embodiment of the present invention provides a real-time safety performance evaluation method for UAV actuators based on a dual-stage observer, which solves the problem that traditional actuator diagnosis and evaluation are mostly instantaneous results, and there is no continuous observation and early warning of risks. At the same time, it solves the problem of lack of real-time performance of the existing UAV evaluation technologies such as post-event evaluation, timing evaluation, qualitative evaluation, or evaluation based on failure probability, and fills the gap related to the real-time safety evaluation of UAV actuators. technical gap

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