Stratopause airship control system fault diagnosis method, device and system

Abstract

The application discloses a stratosphere airship control system fault diagnosis method, device and system, belongs to the technical field of control system fault diagnosis, and is used for realizing fault detection, positioning and fault estimation of the stratosphere airship control system. The fault diagnosis adopts observer technology, and includes a fault detection observer, a fault positioning observer group and a fault estimation observer. After initialization of each observer, state error feedback and next moment state estimation are calculated according to the current state estimation, state measurement, flight controller output and corresponding Lipschitz parameters; the fault detection observer judges whether a fault occurs or not through a residual error evaluation function according to the current state estimation, state measurement and residual error threshold parameter; after judging that a fault occurs, residual error evaluation results of each observer of the fault positioning observer group realize positioning of a fault actuator through a positioning strategy; and the fault estimation observer outputs a fault estimation of the fault actuator.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of control system fault diagnosis, in particular to a stratosphere airship control system fault diagnosis method, device and system. BACKGROUND

[0002] The safety and reliability of a control system is an important guarantee for an aircraft to complete a given task, and is a key problem in control system research. Studies have shown that most of the faults of an aircraft are caused by faults of the control system, and actuator faults are the main fault form of the control system. A stratosphere airship is a complex system, and its control system has multiple characteristics such as strong nonlinearity, multiple state variables and strong coupling. The stratosphere airship flies in the stratosphere environment and is inevitably affected by environmental factors. In addition, the actuator is difficult to avoid failure during long-time flight, thereby causing the flight control performance of the stratosphere airship to decline and making it difficult to complete the given task. Therefore, it is particularly important to research fault diagnosis technology for the stratosphere airship. When a fault occurs, effective fault detection and diagnosis are implemented, and fault isolation is performed, which is a necessary condition for establishing a stratosphere airship health monitoring, unattended system, realizing autonomous fault-tolerant control and making flight decisions, and is of great significance.

[0003] The observer method refers to constructing an observer to estimate the output value of the system when the state of the system is observable or partially observable, comparing the estimated output value with the actual measured value of the system state / output to obtain a residual signal, and then analyzing the statistical characteristics of the residual signal to achieve fault detection and diagnosis. The observer method has been successfully applied to fault diagnosis of linear systems. However, a stratosphere airship is a complex system, and its control system has multiple characteristics such as strong nonlinearity, multiple state variables and strong coupling. Many research schemes are to fit a nonlinear system with a multi-linear system. However, due to the mutual influence between each part of the nonlinear system and the continuous coupling effect, the nonlinear problem is complex and diverse, and it is difficult to realize fault diagnosis of the control system of the stratosphere airship which has typical nonlinear characteristics. SUMMARY

[0004] The purpose of the present application is to provide a stratosphere airship control system fault diagnosis method, device and system, which realizes fault detection, positioning and fault estimation of the control system and improves the reliability of the control system.

[0005] To achieve the above purpose, the present application provides a stratosphere airship control system fault diagnosis method, device and system, which comprises the following steps:

[0006] S101, a fault diagnosis integrated observer is initialized by acquiring the current state measurement of the stratosphere airship, the flight controller output, the Lipschitz parameter and the residual threshold parameter;

[0007] S102, each observer calculates the current state error feedback gain of the observer according to the current state measurement, the current state estimation of each observer, the corresponding Lipschitz parameter and the flight controller output;

[0008] S103, the fault detection observer calculates the next moment fault detection observer state estimation of the stratospheric airship according to the current state measurement, the flight controller output and the corresponding Lipschitz parameter; whether the stratospheric airship control system has a fault is judged by a residual evaluation function according to the current fault detection observer state estimation, the state measurement and the residual threshold parameter;

[0009] S104, when judging that a fault occurs, activate each observer of the fault positioning observer group; each fault positioning observer calculates the next moment state estimation of each observer of the fault positioning observer group according to the current state measurement, the flight controller output and the corresponding Lipschitz parameter; the residual evaluation result of each observer of the fault positioning observer group is obtained by a residual evaluation function according to the current state measurement and the corresponding residual threshold parameter; fault positioning is realized according to the residual evaluation result of each observer of the fault positioning observer group and the positioning strategy;

[0010] S105, when positioning the actuator that has a fault, activate the fault estimation observer; the fault estimation observer outputs the fault estimation of the fault actuator according to the current state measurement, the flight controller output and the corresponding Lipschitz parameter.

[0011] Preferably, in step S101, the fault diagnosis integrated observer includes a fault detection observer, each observer of a fault positioning observer group and a fault estimation observer;

[0012] The state measurement includes the position parameter and the attitude parameter of the stratospheric airship; the position parameter includes three-dimensional ground inertial coordinate system coordinates and airship three-dimensional velocity; the attitude parameter includes the pitch angle and the angular velocity thereof, the heading angle and the angular velocity thereof, and the roll angle and the angular velocity thereof;

[0013] The Lipschitz parameter includes the Lipschitz parameter of the fault detection observer, each observer of the fault positioning observer group and the fault estimation observer;

[0014] The residual threshold parameter includes the residual evaluation parameter of the fault detection observer and each observer of the fault positioning observer group;

[0015] The flight controller output includes the control amount output by the flight controller to each actuator of the stratospheric airship.

[0016] Preferably, in step S102, the fault diagnosis integrated observer calculates the feedback gain of the current state error according to the current state measurement, the current state estimation of each observer, the corresponding Lipschitz parameter and the flight controller output;

[0017] The current state error feedback gain includes the state error feedback gain of the fault detection observer, each observer of the fault location observer group and the fault estimation observer.

[0018] Preferably, in step S103, the state estimation of the fault detection observer includes the position parameter estimation value and the attitude parameter estimation value calculated by the fault detection observer.

[0019] Preferably, in step S104, the state estimation of each observer of the fault location observer group includes the position parameter estimation value and the attitude parameter estimation value calculated by each observer of the fault location observer group.

[0020] Preferably, in step S105, the fault estimation observer calculates the state estimation of the stratospheric airship and the fault estimation of the fault actuator according to the current state measurement, the current state estimation, the corresponding Lipschitz parameter and the flight controller output, and outputs the fault estimation.

[0021] The application also provides a stratospheric airship control system fault diagnosis device, comprising a sensor, a flight controller, a fault detection observer system, a fault location observer system, a fault estimation observer system and a stratospheric airship body.

[0022] The sensor is connected with the stratospheric airship body; the flight controller is connected with the fault detection observer system, the fault location observer system and the fault estimation observer system; the fault detection observer system is connected with the fault location observer system; the fault location observer system is connected with the fault estimation observer system; and the flight controller, the fault detection observer system, the fault location observer system and the fault estimation observer system are all connected with the sensor.

[0023] The sensor is used to acquire the current state measurement of the stratospheric airship; the flight controller is used to output the control amount of the current stratospheric airship actuator; the fault detection observer system is used to judge whether a fault occurs; the fault location observer system is used to locate the fault actuator; and the fault estimation observer system is used to estimate the fault input estimation value of the fault actuator.

[0024] The application also provides a stratospheric airship control system fault diagnosis system, comprising:

[0025] An initialization module is used to initialize each observer.

[0026] a parameter acquisition module, configured to acquire a current state measurement parameter of the stratospheric airship, a flight controller output, a Lipschitz parameter and a residual threshold parameter; the state parameter includes a position parameter and an attitude parameter, the position parameter includes three-dimensional ground inertial coordinate system coordinates and airship three-dimensional velocity, and the attitude parameter includes a stratospheric airship pitch angle and an angular velocity thereof, a heading angle and an angular velocity thereof, and a roll angle and an angular velocity thereof; the Lipschitz parameter includes Lipschitz parameters of a fault detection module, a fault positioning module and a fault estimation module; the residual threshold parameter includes residual evaluation parameters of the fault detection module and the fault positioning module; and the flight controller output includes control amounts output by the flight controller to each actuator of the stratospheric airship;

[0027] a fault detection module, configured to judge whether a fault occurs or not and output a judgment logic signal of whether a fault occurs or not;

[0028] a fault positioning module, configured to position an actuator where a fault occurs and output a fault actuator position;

[0029] a fault estimation module, configured to estimate a fault size of the actuator where a fault occurs and output a fault input value of the fault actuator.

[0030] Therefore, the stratospheric airship control system fault diagnosis method, device and system are used to diagnose faults of the control system by using a nonlinear observer technology, to integrally complete fault detection, fault positioning and fault estimation, to provide a guarantee for flight decision of the stratospheric airship, and to improve reliability of the stratospheric airship control system.

[0031] The technical solutions of the present application are further described in detail below with reference to the drawings and embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 a flowchart of a stratospheric airship control system fault diagnosis method;

[0033] Figure 2 a use flowchart of a stratospheric airship control system fault diagnosis device. DETAILED DESCRIPTION

[0034] The technical solutions of the present application are further described in detail below with reference to the drawings and embodiments.

[0035] Unless otherwise defined, technical terms or scientific terms used in the present application shall have the common meanings understood by those skilled in the art to which the present application pertains.

[0036] Embodiment One

[0037] Figure 1A flow chart of a stratosphere control system fault diagnosis method of the present application, specifically comprising the following steps:

[0038] Step 101: Obtain the current state measurement of the stratospheric airship, the flight controller output, the Lipschitz parameter and the residual threshold parameter, and initialize the fault diagnosis integrated observer;

[0039] The fault diagnosis integrated observer includes a fault detection observer, a fault positioning observer group, and a fault estimation observer.

[0040] The state measurement includes position parameters and attitude parameters, the position parameters include inertial three-dimensional coordinates and airship three-dimensional velocity, and the attitude parameters include stratospheric airship pitch angle, heading angle, roll angle and attitude angular velocity.

[0041] The Lipschitz parameter includes the Lipschitz parameter of the fault detection observer, the fault positioning observer group and the fault estimation observer.

[0042] The residual threshold parameter includes the residual evaluation parameter of the fault detection observer and the fault positioning observer group.

[0043] The flight controller output includes the control output of the flight controller to each actuator of the stratospheric airship.

[0044] The stratospheric airship control system model can be described as:

[0045]

[0046] Where p is the position parameter of the stratospheric airship obtained by the sensor, p = [x y h] T , x is the x-axis coordinate in the inertial system, y is the y-axis coordinate in the inertial system, and h is the z-axis coordinate in the inertial system. Ω is the attitude parameter of the stratospheric airship obtained by the sensor, Ω = [φ θ ψ] T , φ is the roll angle of the stratospheric airship, θ is the pitch angle of the stratospheric airship, and ψ is the heading angle of the stratospheric airship. v is the projection of the velocity of the stratospheric airship in the body axis system obtained by the sensor, v = [v x v y v z ] T , v x is the projection of the velocity on the x-axis, v y is the projection of the velocity on the y-axis, and v z is the projection of the velocity on the z-axis; ω is the projection of the angular velocity of the stratospheric airship in the body axis system obtained by the sensor, ω = [ω x ω y ω z ] T , ωx is the projection of the angular velocity on the x-axis, ω x is the projection of the angular velocity on the y-axis, ω x is the projection of the angular velocity on the z-axis. is the derivative of p with respect to time, is the derivative of Ω with respect to time. is the derivative of v with respect to time, is the derivative of ω with respect to time. K is the coordinate transformation matrix that converts the airship velocity in the body axis system to the ground axis system, R is the transformation matrix that converts the angular velocity from the body axis system to the ground axis system. B is the stratosphere airship control variable distribution matrix, Π(p,Ω,v,ω) is the nonlinear variable matrix of the system with respect to the (p,Ω,v,ω) parameters. u is a vector composed of flight controller output quantities, u=[u1 u2 … u n ] T , n is the number of actuators.

[0047] Step 102: Each observer calculates the current state error feedback gain of the observer according to the current state measurement, the current state estimate of each observer, the corresponding Lipschitz parameter and the flight controller output.

[0048] Wherein, each observer includes a fault detection observer, a fault positioning observer group each observer and a fault estimation observer; the current state estimate of each observer includes the position parameter estimate and the attitude parameter estimate calculated by each observer; the state error includes the error between all state quantities and estimated state quantities; the current state error feedback gain includes the state error feedback gain of the fault detection observer, the fault positioning observer group each observer and the fault estimation observer;

[0049] Specifically, the fault detection observer is described as:

[0050]

[0051] Wherein, and are the estimates of p, Ω, v and ω respectively. y=[p Ω v ω] T , is the nonlinear variable matrix of the system with respect to parameters. L is the state error feedback gain of the fault detection observer. The feedback gain is obtained by solving the following linear matrix inequality:

[0052]

[0053] In linear matrix inequality, P is a positive symmetric matrix to be solved, I is a unit matrix of corresponding dimension, and PL=-I, and σ is the Lipschitz parameter of the fault detection observer;

[0054] Φ=(χ-L) T P+P(χ-L),

[0055] wherein:

[0056] e j is a column vector with the first element being 1 and other elements being 0, and m is the dimension of the state measurement of the stratosphere airship. The variable matrix χ j is described as:

[0057]

[0058] vector is described as:

[0059]

[0060] The fault positioning observer group is composed of n fault positioning observers, and each fault positioning observer corresponds to an actuator. The i-th fault positioning observer can be described as:

[0061]

[0062] wherein, z i is an auxiliary design vector, is a state estimation of the fault positioning observer, T i is a positioning function, and is designed as:

[0063]

[0064] B i is the distribution matrix of the corresponding actuator, B j is the distribution matrix of the remaining actuators. N i is designed as T i =I-N i , F i is obtained by solving the linear inequality:

[0065]

[0066]

[0067] wherein, is a symmetric positive matrix, and has σ i,a is the Lipschitz parameter of the corresponding fault positioning observer; χ is consistent with the description before. H i ​Designed for H i =-F i (IN i ).

[0068] The fault estimation observer is described as follows:

[0069]

[0070] in, Let D be the state estimator of the fault estimation observer, and D be the assignment matrix of the fault actuator. For fault estimation; L e For the state error feedback of the fault estimation observer, the linear inequality is solved.

[0071]

[0072] get.

[0073] Among them, P e It is a symmetric positive matrix; σ e The Lipschitz parameters for the fault estimation observer;

[0074]

[0075]

[0076]

[0077]

[0078] Among them, H e The gain matrix is ​​the derivative of the fault estimation, and we have yes The derivative with respect to time.

[0079] Step 103: The fault detection observer calculates the state estimate of the stratospheric airship at the next moment based on the current state error feedback gain; the residual evaluation function determines whether a fault has occurred based on the current state measurement, the state estimate, and the corresponding residual threshold parameters.

[0080] Specifically, the output of the stratospheric airship's next-moment state estimate calculated by the fault detection observer is:

[0081]

[0082] The residual evaluation function of the fault detection observer is designed as follows:

[0083]

[0084] in, t2 is the current time, t1 is the last time. Threshold parameter J th is J th = supσ||e y ||2.

[0085] When ||e y ||2> J th , the fault detection observer determines that a fault occurs, otherwise it is determined that no fault occurs.

[0086] Step 104: When determining that a fault occurs, activate each observer in the fault location observer group; each fault location observer calculates the state estimation of the stratospheric airship according to the current state measurement, the flight controller output and the corresponding Lipschitz parameter; according to the state estimation, the state measurement and the residual threshold parameter, the residual evaluation result is obtained through the residual evaluation function; the fault location is realized according to the residual evaluation result of each observer and the positioning strategy.

[0087] Among them, the state estimation includes the position parameter estimation value and the attitude parameter estimation value calculated by each fault location observer; the residual threshold parameter refers to the residual threshold parameter of each fault location observer; the residual evaluation function refers to the residual evaluation function of each fault location observer; the residual evaluation result includes the residual evaluation result of each fault location observer;

[0088] Specifically, when the fault detection observer determines that a fault occurs, each fault location observer in the fault location observer group is activated and calculates each state estimation The residual evaluation function of each observer is designed as:

[0089]

[0090] t2 is the current time, t1 is the last time. Threshold parameter J th is

[0091] The residual evaluation result is: and the numerical relationship of J th .

[0092] Specifically, the fault location strategy logic is:

[0093] When the residual evaluation result of a fault location observer At the same time, the residual evaluation results of other fault location observers , then the execution structure corresponding to the fault location observer fails.

[0094] Step 105: activating a fault estimation observer to output a fault estimation value of the faulty actuator according to the current state measurement, the flight controller output and the corresponding Lipschitz parameter.

[0095] Specifically, the fault estimation observer calculates the fault estimation value

[0096] Embodiment two

[0097] Figure 2 A flowchart of a stratospheric airship control system fault diagnosis device is provided. Figure 2 As shown in the figure, in order to realize the method in embodiment one, the embodiment provides a stratospheric airship control system fault diagnosis device, which comprises a sensor, a flight controller, a fault detection observer system, a fault positioning observer, a fault estimation observer system and a stratospheric airship body.

[0098] The sensor is connected with the stratospheric airship body; the flight controller is connected with the fault detection observer system, the fault positioning observer system and the fault estimation observer system; the fault detection observer system is connected with the fault positioning observer system; the fault positioning observer system is connected with the fault estimation observer system; the flight controller, the fault detection observer system, the fault positioning observer system and the fault estimation observer system are all connected with the sensor.

[0099] The fault detection observer system is used to determine whether a fault occurs; the fault positioning observer system is used to locate the faulty actuator; and the fault estimation observer system is used to estimate the fault input estimation value of the faulty actuator.

[0100] Specifically,

[0101] The sensor is used to obtain the current state measurement of the stratospheric airship; and the flight controller is used to output the control value of the current stratospheric airship actuator.

[0102] Embodiment three

[0103] The stratospheric airship control system fault diagnosis system in the embodiment comprises:

[0104] An initialization module is used to initialize the observers.

[0105] The parameter acquisition module is configured to acquire a current state quantity parameter of the stratospheric airship, a flight controller output quantity, a Lipschitz parameter and a residual threshold parameter. The state quantity parameter includes a position parameter and an attitude parameter. The position parameter includes inertial three-dimensional coordinates and airship body three-dimensional velocity. The attitude parameter includes a stratospheric airship pitch angle, a heading angle, a roll angle and each attitude angular velocity. The Lipschitz parameter includes a Lipschitz parameter of the fault detection module, the fault positioning module and the fault estimation module. The residual threshold parameter includes a residual evaluation parameter of the fault detection module and the fault positioning module. The flight controller output quantity includes a control quantity output by the flight controller to each actuator of the stratospheric airship.

[0106] The fault detection module is configured to judge whether a fault occurs and output a judgment logic signal of whether a fault occurs.

[0107] The fault positioning module is configured to locate an actuator where a fault occurs and output a fault actuator position.

[0108] The fault estimation module is configured to estimate a fault size of the actuator where a fault occurs and output a fault input value of the fault actuator.

[0109] Therefore, the stratospheric airship control system fault diagnosis method, device and system are used to diagnose faults of the control system by using the nonlinear observer technology, to integrate fault detection, fault positioning and fault estimation, to provide support for flight decision of the stratospheric airship and to improve reliability of the stratospheric airship control system.

[0110] Finally, it should be noted that: the above examples are only used to illustrate the technical solutions of the present application rather than limiting them. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can still be modified or replaced by equivalents, and these modifications or replacements cannot make the modified technical solutions deviate from the spirit and scope of the technical solutions of the present application.

Claims

1. A fault diagnosis method for a stratospheric airship control system, characterized in that, Includes the following steps: S101. Initialize the fault diagnosis integrated observer by acquiring the current state measurements, flight controller output, Lipschitz parameters, and residual threshold parameters of the stratospheric airship. S102. Each observer calculates its current state error feedback gain based on the current state measurement, the current state estimate of each observer, the corresponding Lipschitz parameters, and the flight controller output. S103. The fault detection observer calculates the state estimate of the stratospheric airship at the next moment based on the current state measurement, flight controller output and corresponding Lipschitz parameters; and determines whether the stratospheric airship control system has failed based on the current state estimate, state measurement and residual threshold parameters of the fault detection observer through the residual evaluation function. S104. When a fault is detected, activate each observer in the fault location observer group. Each fault location observer calculates the state estimate of each observer in the stratospheric airship fault location observer group at the next moment based on the current state measurement, flight controller output, and corresponding Lipschitz parameters; and obtains the residual evaluation results of each observer in the fault location observer group through the residual evaluation function based on the current state estimate, state measurement, and corresponding residual threshold parameters of each observer in the fault location observer group. Fault location is achieved based on the residual evaluation results and location strategy of each observer in the fault location observer group; S105. When locating the malfunctioning actuator, activate the fault estimation observer. The fault estimation observer outputs the fault estimate of the malfunctioning actuator based on the current state measurement, flight controller output and corresponding Lipschitz parameters. The stratospheric airship control system model is described as follows: ； in, The position parameters of the stratospheric airship obtained by the sensor. , In an inertial frame Axis coordinates In an inertial frame Axis coordinates The z-axis coordinates in the inertial frame; These are the attitude parameters of the stratospheric airship obtained by the sensors. , The roll angle of a stratospheric airship. The pitch angle of a stratospheric airship. This refers to the heading angle of the stratospheric airship; The projection of the stratospheric airship's velocity, acquired by the sensor, onto the body axis. , For speed in Projection of the axis For speed in Projection of the axis The projection of the velocity onto the z-axis; The projection of the angular velocity of the stratospheric airship in the body axis system, obtained by the sensor. , For angular velocity at Projection of the axis For angular velocity at Projection of the axis This is the projection of the angular velocity onto the z-axis; for The time derivative, for The time derivative; for The time derivative, for The time derivative; The coordinate transformation matrix is ​​used to convert the airship velocity in the body axis to the Earth axis. This is the transformation matrix for converting angular velocity from the body axis to the ground axis; Assigning control variables to stratospheric airships using a matrix. For the system about The nonlinear variable matrix of parameters; A vector consisting of the outputs of the flight controller. , Number of implementing agencies; The fault detection observer is described as follows: ； in, , , and They are respectively , , and The estimate; , ; For the system about The nonlinear variable matrix of parameters; Let the state error feedback gain of the fault detection observer be given. The feedback gain is obtained by solving the following linear matrix inequality: ； In linear matrix inequalities, Let be the positive symmetric matrix to be solved. Let be the identity matrix of the corresponding dimension, and have relation, For the Lipschitz parameters of the fault detection observer; ； in: , For the first A column vector with 1 element and 0 elements elsewhere. The dimension of the state measurements of a stratospheric airship; variable matrix Described as: ； vector Described as: 。 2. The method for fault diagnosis of a stratospheric airship control system according to claim 1, characterized in that, In step S101, the fault diagnosis integrated observer includes a fault detection observer, each observer in the fault location observer group, and a fault estimation observer. The state measurement parameters include the position parameters and attitude parameters of the stratospheric airship. The position parameters include the coordinates in the three-dimensional ground inertial coordinate system and the three-dimensional velocity of the airship. The attitude parameters include the pitch angle and its angular velocity, the heading angle and its angular velocity, and the roll angle and its angular velocity of the stratospheric airship. The Lipschitz parameters include the Lipschitz parameters of the fault detection observer, each observer in the fault location observer group, and the fault estimation observer. The residual threshold parameters include the residual evaluation parameters of each observer in the fault detection observer and fault location observer group. The flight controller output includes the control output from the flight controller to each actuator of the stratospheric airship.

3. The method for fault diagnosis of a stratospheric airship control system according to claim 1, characterized in that, In step S102, the fault diagnosis integrated observer calculates the feedback gain of the current state error based on the current state measurement, the current state estimate of each observer, the corresponding Lipschitz parameters, and the flight controller output. The current state error feedback gain includes the state error feedback gain of each observer in the fault detection observer group, the fault location observer group, and the fault estimation observer.

4. The method for fault diagnosis of a stratospheric airship control system according to claim 1, characterized in that, In step S103, the state estimate of the fault detection observer includes the position parameter estimate and attitude parameter estimate calculated by the fault detection observer.

5. The method for fault diagnosis of a stratospheric airship control system according to claim 1, characterized in that, In step S104, the state estimates of each observer in the fault location observer group include the estimated values ​​of position parameters and attitude parameters calculated by each observer in the fault location observer group.

6. The method for fault diagnosis of a stratospheric airship control system according to claim 1, characterized in that, In step S105, the fault estimation observer calculates the state estimate of the stratospheric airship and the fault estimate of the fault actuator based on the current state measurement, the current state estimate, the corresponding Lipschitz parameters and the flight controller output, and outputs the fault estimate.

7. A fault diagnosis device for a stratospheric airship control system, characterized in that, The method for performing fault diagnosis of a stratospheric airship control system as described in any one of claims 1-6 includes sensors, a flight controller, a fault detection observer system, a fault location observer system, a fault estimation observer system, and a stratospheric airship body. The sensor is connected to the stratospheric airship body; the flight controller is connected to the fault detection observer system, the fault location observer system, and the fault estimation observer system; the fault detection observer system is connected to the fault location observer system; the fault location observer system is connected to the fault estimation observer system; the flight controller, the fault detection observer system, the fault location observer system, and the fault estimation observer system are all connected to the sensor. The sensor is used to acquire the current state measurement of the stratospheric airship; the flight controller is used to output the control quantity of the current stratospheric airship actuator; the fault detection observer system is used to determine whether a fault has occurred; the fault location observer system is used to locate the actuator that has malfunctioned; and the fault estimation observer system is used to estimate the fault input value of the malfunctioning actuator.

8. A fault diagnosis system for a stratospheric airship control system, characterized in that, A method for performing fault diagnosis of a stratospheric airship control system as described in any one of claims 1-6, comprising: The initialization module is used to initialize each observer. The parameter acquisition module is used to acquire the current state measurement parameters of the stratospheric airship, the flight controller output, Lipschitz parameters, and residual threshold parameters. The state measurement parameters include position parameters and attitude parameters. The position parameters include three-dimensional ground inertial coordinate system coordinates and the airship's three-dimensional velocity. The attitude parameters include the stratospheric airship's pitch angle and angular velocity, yaw angle and angular velocity, and roll angle and angular velocity. The Lipschitz parameters include those of the fault detection module, fault location module, and fault estimation module. The residual threshold parameters include residual evaluation parameters from the fault detection module and fault location module. The flight controller output includes the control quantities output by the flight controller to each actuator of the stratospheric airship. The fault detection module is used to determine whether a fault has occurred and outputs a logic signal indicating whether a fault has occurred. The fault location module is used to locate the faulty actuator and output the location of the faulty actuator. The fault estimation module is used to estimate the fault magnitude of the actuator that has failed and outputs the fault input value of the failed actuator.

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