CN110244697A - Vertically taking off and landing flyer complex fault based on compound observer diagnoses discrimination method - Google Patents

Vertically taking off and landing flyer complex fault based on compound observer diagnoses discrimination method Download PDF

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CN110244697A
CN110244697A CN201910561695.3A CN201910561695A CN110244697A CN 110244697 A CN110244697 A CN 110244697A CN 201910561695 A CN201910561695 A CN 201910561695A CN 110244697 A CN110244697 A CN 110244697A
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fault
observer
matrix
engine
pivot angle
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CN110244697B (en
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韦常柱
崔乃刚
李源
陈嘉凯
关英姿
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Harbin Institute of Technology
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Harbin Institute of Technology
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B23/00—Testing or monitoring of control systems or parts thereof
    • G05B23/02—Electric testing or monitoring
    • G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
    • G05B23/0259—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the response to fault detection
    • G05B23/0262—Confirmation of fault detection, e.g. extra checks to confirm that a failure has indeed occurred
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/24—Pc safety
    • G05B2219/24065—Real time diagnostics

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Abstract

The invention discloses a kind of, and the vertically taking off and landing flyer complex fault based on compound observer diagnoses discrimination method, and described method includes following steps: Step 1: establishing system fault condition equation；Step 2: establishing fault detection observer fast implements fault verification, i.e. whether decision-making system breaks down；Step 3: establishing one group of single channel diagnostic observations device and multi-channel coupling separation observer, tentatively extracting fault message using single channel diagnostic observations device and realizing fault location and Precise Diagnosis using multi-channel coupling separation observer；Step 4: the observed result based on step 2 and step 3, quick diagnosis is out of order mode and fault message.This method can quickly and accurately realize fault identification merely with the attitude angular velocity information of vertically taking off and landing flyer, lay a good foundation for control reconfiguration and task reconfiguration design.

Description

Vertically taking off and landing flyer complex fault based on compound observer diagnoses discrimination method
Technical field
The invention belongs to flying vehicles control technical fields, are related to a kind of for vertically taking off and landing flyer dynamical system and servo The diagnosis of system combined failure and discrimination method.
Background technique
Vertically taking off and landing flyer is that a kind of trajectory changes fast high-precision complex aircraft, to dynamical system, servo-system Propose high-precision, high stability requirement.However vertically taking off and landing flyer flight environment of vehicle is complicated, dynamical system, servo-system are appointed The probability to break down in business amount is higher, seriously affects vertically taking off and landing flyer control performance, flight stability performance and flight energy Power etc..The servo mechanism power of vertically taking off and landing flyer is often provided by dynamical system, therefore servo mechanism failure is often adjoint Dynamical system failed synchronization occur, that is to say, that when vertically taking off and landing flyer because turbine failure of pump, thrust chamber failure or pipeline, Valve break down cause dynamical system failure after, often cause motive thrust decline, correspond to servo mechanism it is stuck or Pine floats failed synchronization.According to control mechanism it is found that the fault mode between dynamical system and servo-system there are serious couplings There are certain difficulties for conjunction, the synchronous accurate fault diagnosis realized under above-mentioned complex fault mode and identification, cannot achieve complicated event Precise Diagnosis and identification under barrier mode can seriously affect the flight reliability of vertically taking off and landing flyer, leverage China and hang down The development of straight landing aircraft.
Summary of the invention
In view of the above-mentioned problems, the present invention provides a kind of vertically taking off and landing flyer complex faults based on compound observer to examine Disconnected discrimination method.This method can quickly and accurately realize failure merely with the attitude angular velocity information of vertically taking off and landing flyer Identification is laid a good foundation for control reconfiguration and task reconfiguration design.
The purpose of the present invention is what is be achieved through the following technical solutions:
A kind of vertically taking off and landing flyer complex fault diagnosis discrimination method based on compound observer, includes the following steps:
Step 1: establishing system fault condition equation:
In formula:
X is state vector:
X=[ωx ωy ωz]T；
ωx,ωy,ωzFor the practical attitude angular velocity of vertically taking off and landing flyer；
The output quantity of y expression system:
Y=[ωx ωy ωz]T；
It can directly be exported by inertial navigation system；
C is the output matrix of system, the error in measurement comprising system；
A is the state-transition matrix of system:
Q is dynamic pressure, and V is vehicle flight speeds, SmFor area of reference, l is reference length,For aircraft Three axis rotary inertias,For aircraft triple channel damped coefficient；
D (t) is the perturbation vector of system:
mRFor a single engine quality, JRFor around the rotary inertia of engine hinge axis, lRFor Motor Mass Centre to hinge axis Distance,δψ,δγThe equivalent pivot angle of triple channel engine, xRFor engine hinge position, xTFor Mass Center of Engines, MBX, MBY,MBZFor structure disturbance torque, MKY,MKZFor engine jamming torque；
BiIt indicates that input matrix B will be controlledδMatrix after i-th column zero setting；
U=[δ1 δ2 δ3 δ4]T, indicate the pivot angle of four engines；
biIndicate control input matrix BδI-th column；
pkui=kiδki；
δkiIndicate servo mechanism i fault angle；
kiIndicate the thrust loss coefficient of i-th of single-shot engine of dynamical system；
Indicate the asymmetric disturbance torque caused of thrust layout caused by occurring after thrust loss because of i engine,
R is motor power to axial line distance；
TiFor the thrust of i-th of single-shot engine；
Step 2: establishing fault detection observer fast implements fault verification, i.e. whether decision-making system breaks down；Specific steps It is as follows:
A fault detection observer is designed, determines whether system breaks down using the residual signals that it is generated, is observed Form is as follows:
In formula: z (t) is the state vector of Luenberger fault detection observer, and r (t) is fault detection residual vector, uδ (t) indicate that servo mechanism instructs pivot angle；
It introduces error vector e (t):
E (t)=z (t)-Gx (t)；
Observer matrix F, G, L, M and H meet following condition:
LC+FG-GA=0；
MG+HC=0；
Re (λ (F)) < 0；
MGEd=0；
In formula: λ (F) is denoted as the characteristic value of matrix F, and Re () indicates the real part of variable；
When system fault-free, the theoretical input of system is equal with actually entering, at this time
Residual vector meets:
After system jam, the theoretical input of system with actually enter unequal, error equation and residual error side at this time Journey indicates are as follows:
System cannot restrain, i.e.,
System diverging；
Fault diagnosis is tentatively completed according to the residual signals that fault detection observer exports, when residual signals are greater than given threshold Decision-making system has broken down；
Step 3: establishing one group of single channel diagnostic observations device and multi-channel coupling separation observer, diagnosed using single channel Observer tentatively extracts fault message and realizes fault location and Precise Diagnosis using multi-channel coupling separation observer；Specific step It is rapid as follows:
(1) 4 single channel diagnostic observations devices, corresponding four different engines, single channel diagnosis are established using roll channel Observer form is as follows:
BxmIt indicates that input matrix B will be controlledxM column zero setting control matrix；bmIndicate the m of control data matrix Column；F, G, L, M and H are parameter to be designed；
After system breaks down, realized by above-mentioned single channel diagnostic observations device to parameter pkuiEstimation；
(2) 4 groups of multi-channel coupling separation observers of following form are established, the complexity event that four engines occur is respectively corresponded Barrier mode, for exporting corresponding residual signals:
BmIt indicates that the control matrix of the m column zero setting of input matrix B will be controlled；bmIndicate the m column of control data matrix； pkum=kmδkm, can accurately be estimated by single channel diagnostic observations device；It indicatesEstimated value, andSize ByIt determines, F, G, L, M and H are matrix to be designed；
When step 1 form failure occurs in system, there was only m (m=i) a observer and reality in 4 separation filters Failure has identical control input structure, whenConverge to pkuiAndConverge to kiWhen, residual signals | | rm(t) | | it will Level off to zero, fault message kiPass through on-line tuning using adaptive lawIt estimates, other observer output residual error hairs It dissipates, i.e.,
Step 4: the observed result based on step 2 and step 3, quick diagnosis is out of order mode and fault message；Specifically Steps are as follows:
The judgement of servo mechanism fault mode:
If the expectation pivot angle of control system output is δki, pivot angle estimated value isThen pivot angle deviation is represented bySet given threshold value Δ δ0；
(1) fault-free
When pivot angle difference Δ δ is less than given threshold value Δ δ0When determine servo mechanism fault-free；
(2) it fails
When pivot angle difference Δ δ is greater than the floating threshold value Δ δ of pine0And failure servo mechanism pivot angle changes over time and changes, then judges Fault mode is engine servo mechanism failure of removal at this time；
(3) stuck
When pivot angle difference Δ δ is greater than the floating threshold value Δ δ of pine0And sick engine pivot angle does not change over time and changes, then judges Fault mode is engine servo mechanism failure of removal at this time；
Whether dynamical system breaks down judgement:
(1) fault-free
When thrust loss coefficientWhen estimated value is close to 1, dynamical system fault-free is determined；
(2) partial failure failure
When thrust loss coefficientWhen estimated value is less than 1, determine that dynamical system breaks down, and thrust loss coefficient is
Compared with the prior art, the present invention has the advantage that
The present invention can be realized under complex fault mode merely with the angular velocity information observed quantity of vertically taking off and landing flyer Fault diagnosis and identification, use information is few, does not need additional designs sensor, can reduce cost；Pass through multiple observers pair Failure is diagnosed and is separated, and diagnostic result is accurate；Failure is realized in the case where considering thrust loss and servo mechanism coupling condition Diagnosis has novelty.
Detailed description of the invention
Fig. 1 is engine pivot angle relationship.
Specific embodiment
Further description of the technical solution of the present invention with reference to the accompanying drawing, and however, it is not limited to this, all to this Inventive technique scheme is modified or replaced equivalently, and without departing from the spirit and scope of the technical solution of the present invention, should all be covered Within the protection scope of the present invention.
The present invention is directed to the design requirement of vertically taking off and landing flyer complex fault quick diagnosis, provides a kind of based on compound The vertically taking off and landing flyer complex fault of observer diagnoses discrimination method.This method initially sets up fault detection observer and fast implements event Barrier determines that is, whether decision-making system breaks down；Then it establishes one group of single channel diagnostic observations device and multi-channel coupling separation is seen Device is surveyed, tentatively extract fault message using single channel diagnostic observations device and realizes that failure is fixed using multi-channel coupling separation observer Position and Precise Diagnosis are finally out of order mode and fault message based on observed result quick diagnosis.Specific implementation step is as follows:
1, system state equation is established
Vertically taking off and landing flyer rotation around center of mass kinetics equation may be expressed as:
Vertically taking off and landing flyer dynamical system layout is mostly form shown in Fig. 1.
It is above-mentioned to be write a Chinese character in simplified form around mass center kinetic model are as follows:
In formula,
X is state vector:
X=[ωx ωy ωz]T；
The output quantity of y expression system:
Y=[ωx ωy ωz]T；
C is the output matrix of system, the error in measurement comprising system；
A is the state-transition matrix of system:
D (t) is the perturbation vector of system:
Bu (t) is that the control of system inputs, and using servo mechanism pivot angle as control input vector, then Bu (t) is represented by Bδuδ(t), uδ=[δ1 δ2 δ3 δ4]T, controlling matrix B at this time has following form:
Bδ=[M1 M2 M3 M4]；
When complex fault occurs in system, there is thrust loss with dynamical system and occurs simultaneously same in the failure of Ji Fu mechanism On kind engine, if i-th servo mechanism breaks down, and fault angle is δki, thrust loss coefficient is ki, then system mode Equation may be expressed as:
In formula:
BiIt indicates that input matrix B will be controlledδMatrix after i-th column zero setting；
biIndicate control input matrix BδI-th column；
δkiIndicate servo mechanism i fault angle；
kiIndicate dynamical system thrust loss coefficient；
Indicate the asymmetric disturbance torque caused of thrust layout caused by occurring after thrust loss because of i engine,
When there is thrust loss in No. 1 engine, k2=k3=k4=1, thenForm may be expressed as:
When there is thrust loss in No. 2 engines, k1=k3=k4=1, thenForm may be expressed as:
When there is thrust loss in No. 3 engines, k1=k2=k4=1, thenForm may be expressed as:
When there is thrust loss in No. 4 engines, k1=k2=k3=1, thenForm may be expressed as:
If there is thrust loss failure and the stuck failure of servo mechanism simultaneously in No. 1 engine, then because of the interference of failure initiation Torque Mz1It may be expressed as:
By Mz1Form it is found that disturbance torque is caused in the component of x-axis by servo mechanism fault angle, disturbance torque is in y Axis, z-axis component are caused jointly by the stuck failure of servo mechanism and thrust loss failure, while being caused by the stuck failure of servo mechanism Disturbance torque form it is found that its by servo mechanism fault angle and thrust loss coefficient joint effect, visual thrust loss coefficient Parameter k1With servo mechanism fault angle δk1Product be a parameter pku1Convergence estimate is carried out, it is stuck to reduce servo mechanism Angle and the product of thrust loss coefficient couple the influence to parameter convergence rate and precision, and parameter to be estimated becomes p at this timekui And ki, the state equation of system may also indicate that are as follows:
It reduces thrust loss and servo mechanism while appearing in the parameter coupling influence on engine of the same race, it is only necessary to optimize Parameter pkuAnd k1, while utilizing formula
pkui=kiδki (6)
Servo mechanism fault angle can be calculated.
From the above equation, we can see that disturbance torque x-axis component only with pkuiIt is related, and disturbance torque y-axis, z-axis component by pkuiAnd k1Collective effect generates, therefore desirable condition amount x (t) is the angular velocity in roll of liquid rocket, at this time shape in roll channel State equation may be expressed as:
In formula: system state amount x (t) is angular velocity in roll ωx；D (t) indicates disturbing influence；Bx =[- T1r -T2r -T3r -T4r]。
System state equation may be expressed as: in roll channel under complex fault mode
In formula: BxiIt indicates matrix BxThe i-th column zero setting after matrix, bxiRepresenting matrix BxiI-th of element.
2, fault detection observer designs
A fault detection observer is designed, determines whether system breaks down using the residual signals that it is generated, is observed Form is as follows:
In formula: z (t) is the state vector of Luenberger fault detection observer, and r (t) is fault detection residual vector, uδ (t) indicate that servo mechanism instructs pivot angle, matrix F, G, L, M and H are matrix to be designed.Design matrix G for eliminate disturbance to Amount influences observer identification precision, and concrete form provides in formula (14).
Observer tracks quantity of state Gx (t) using z (t), and after system breaks down, booster system is practical There is deviation in input and observer input, and observer can not track quantity of state Gx (t), and output residual error amount r (t) cannot receive It holds back, i.e.,It is diagnosed to be system jam at this time.
It introduces error vector e (t):
E (t)=z (t)-Gx (t) (10).
Design observer matrix F, G, L, M and H meet following condition:
LC+FG-GA=0 (11)；
MG+HC=0 (12)；
Re (λ (F)) < 0 (13)；
MGEd=0 (14).
In formula: λ (F) is denoted as the characteristic value of matrix F, and Re () indicates the real part of variable.
After system jam, error equation and residual equation be may be expressed as: at this time
In formula: Bδ0Control input matrix after indicating failure；uδ0Control input quantity after indicating failure.
Applying equation (11) to formula (14), error equation and residual equation may be expressed as:
When system fault-free, the theoretical input of system is equal with actually entering, at this time
Residual vector meets:
After system jam, the theoretical input of system with actually enter unequal, system cannot restrain, i.e.,
System diverging.
Fault diagnosis can be tentatively completed according to the residual signals that fault detection observer exports, when residual signals are greater than given threshold When decision-making system broken down.After decision-making system failure, pre-set single channel diagnostic observations device and multichannel are activated Integrated separation Design of Observer realizes the diagnosis and identification to complex fault.
3, single channel diagnostic observations device designs
System state equation may be expressed as: in roll channel
In formula: Bx=[- T1r -T2r -T3r -T4R], BxiIt indicates matrix BxThe i-th column zero setting matrix, bxiIt indicates Matrix BxiI-th of element.
To obtain coefficient pkuiEstimated value, establish 4 single channel diagnostic observations devices using roll channel, corresponding four are not Same engine, single channel diagnostic observations device form are as follows:
The state input matrix that observer is established is Bxm, indicate that input matrix B will be controlledxM column zero setting control square Battle array；bmIndicate the m column of control data matrix；F, G, L, M and H are that (formula (11)-is public for parameter to be designed Formula (14)).
Design has adaptive law in single channel diagnostic observations device
It is rightIt is adaptively adjusted, ηm=Mbm, ρmFor auto-adaptive parameter, determineConvergence rate.When Estimated value and realityWhen different, system exports residual error rm(t) ≠ 0, adaptive law (formula (22)) is defeated using system at this time Residual error outIt is rightAdaptively adjusted；UntilConverge to pkui, system exports residual error r at this timem(t) it will also receive It holds back to zero.
By system input matrix Bx=[- T1r -T2r -T3r -T4R] form it is found that the 1st the arranging of matrix, the 2nd column, the 3rd Column and the 4th show identical form, i.e. four in roll channel observer has same form, when system breaks down Afterwards, four observers can be realized by observer (formula (21)) to parameter pkuiEstimation.
4, multi-channel coupling separates Design of Observer
It to realize the accurate estimation to thrust loss coefficient, while realizing fault location, establishes 4 groups of multichannels of following form Integrated separation observer respectively corresponds the complex fault mode of four engines generation, for exporting corresponding residual signals:
It is compared to fault Detection Filter (formula (9)), the state input matrix that separation observer is established is Bm, indicate The control matrix of the m column zero setting of input matrix B will be controlled；bmIndicate the m column of control data matrix；pkum=kmδkm, can be by Observer (formula (21)) is accurately estimated；It indicatesEstimated value, andSize byIt determines.F,G,L,M It is matrix to be designed (formula (11)-formula (14)) with H.
Design has adaptive law in separation observer
To dynamical system thrust loss coefficientIt is adaptively adjusted, wherein ηn=M (MTM)-1PG, P are to meet
Symmetric positive definite matrix.ρnFor auto-adaptive parameter, dynamical system thrust loss coefficient estimated value is determinedReceipts Hold back speed.WhenDo not converge on pkuiOrDo not converge on kiWhen, system exports residual error rm(t) ≠ 0, adaptive law is (public at this time Formula (24)) utilize system output residual errorIt is rightAdaptively adjusted；UntilConverge on ki, system exports residual at this time Poor rm(t) zero will also be converged to.
Systematic error equation and residual equation are represented by following form:
B in the observer to match with physical fault modeli、biWith Bm、bmIt is identical,WithThere is identical structure, it is fixed JusticeThen error equation and residual equation may be expressed as:
When formula (5) form failure occurs in system, there was only m (m=i) a observer and reality in 4 separation filters Border failure has identical control input structure, i.e. Bi、biWith Bm、bmIt is identical,WithThere is identical structure, whenConvergence To pkuiAndConverge to kiWhen, residual signals | | rm(t) | | zero will be leveled off to, fault message kiAdaptive law can also be used (formula (24)) pass through on-line tuningIt estimates.And other observer output residual error divergings, i.e.,In summary scheme utilisation system residual signals realize fault reconstruction, and utilize adaptive law On-line tuningWithRealize the estimation to failure.
5, fault mode determines
The estimated value of the practical pivot angle of servo mechanism can be obtained by the above method, to realize that fault mode determines, need to compare According to control system output swing angle and failure servo mechanism pivot angle estimated value, judge to determine fault mode eventually by voting logic. If the expectation pivot angle of control system output is δc, pivot angle estimated value is δf, then pivot angle deviation is represented by Δ δ=δc-δf。
(1) fault-free
Servo mechanism fault-free is determined when pivot angle difference is less than given threshold value.
(2) it fails
When pivot angle difference Δ δ is greater than, pine floats threshold value and failure servo mechanism pivot angle changes over time and changes, then judges at this time Fault mode is engine servo mechanism failure of removal.
(3) stuck
When pivot angle difference Δ δ is greater than, pine floats threshold value and sick engine pivot angle does not change over time and changes, then judges at this time Fault mode is engine servo mechanism failure of removal.
It can determine that system servo mechanism fault mode by the above logic.
It can determine whether dynamical system breaks down by thrust loss coefficient estimated value:
(1) fault-free
When thrust loss coefficient estimated value is close to 1, dynamical system fault-free is determined.
(2) partial failure failure
When thrust loss coefficient estimated value is less than 1, determine that dynamical system breaks down, and thrust loss coefficient is

Claims (5)

1. a kind of vertically taking off and landing flyer complex fault based on compound observer diagnoses discrimination method, it is characterised in that the side Method includes the following steps:
Step 1: establishing system fault condition equation；
Step 2: establishing fault detection observer fast implements fault verification, i.e. whether decision-making system breaks down；
Step 3: establishing one group of single channel diagnostic observations device and multi-channel coupling separation observer, single channel diagnostic observations are utilized Device tentatively extracts fault message and realizes fault location and Precise Diagnosis using multi-channel coupling separation observer；
Step 4: the observed result based on step 2 and step 3, quick diagnosis is out of order mode and fault message.
2. the vertically taking off and landing flyer complex fault according to claim 1 based on compound observer diagnoses discrimination method, It is characterized in that in the step 1, system fault condition equation are as follows:
In formula:
X is state vector:
X=[ωx ωy ωz]T；
ωx,ωy,ωzFor the practical attitude angular velocity of vertically taking off and landing flyer；
The output quantity of y expression system:
Y=[ωx ωy ωz]T；
C is the output matrix of system, the error in measurement comprising system；
A is the state-transition matrix of system:
Q is dynamic pressure, and V is vehicle flight speeds, SmFor area of reference, l is reference length,Turn for three axis of aircraft Dynamic inertia,For aircraft triple channel damped coefficient；
D (t) is the perturbation vector of system:
mRFor a single engine quality, JRFor around the rotary inertia of engine hinge axis, lRFor Motor Mass Centre to hinge axis away from From,δψ,δγThe equivalent pivot angle of triple channel engine, xRFor engine hinge position, xTFor Mass Center of Engines, MBX,MBY, MBZFor structure disturbance torque, MKY,MKZFor engine jamming torque；
BiIt indicates that input matrix B will be controlledδMatrix after i-th column zero setting；
U=[δ1 δ2 δ3 δ4]T, indicate the pivot angle of four engines；
biIndicate control input matrix BδI-th column；
pkui=kiδki；
δkiIndicate servo mechanism i fault angle；
kiIndicate the thrust loss coefficient of i-th of single-shot engine of dynamical system；
Indicate the asymmetric disturbance torque caused of thrust layout caused by occurring after thrust loss because of i engine,
R is motor power to axial line distance；
TiFor the thrust of i-th of single-shot engine.
3. the vertically taking off and landing flyer complex fault according to claim 1 based on compound observer diagnoses discrimination method, It is characterized in that specific step is as follows for the step 2:
A fault detection observer is designed, determines whether system breaks down using the residual signals that it is generated, mode of observation It is as follows:
In formula: z (t) is the state vector of Luenberger fault detection observer, and r (t) is fault detection residual vector, uδ(t) it indicates Servo mechanism instructs pivot angle；
It introduces error vector e (t):
E (t)=z (t)-Gx (t)；
Observer matrix F, G, L, M and H meet following condition:
LC+FG-GA=0；
MG+HC=0；
Re (λ (F)) < 0；
MGEd=0；
In formula: λ (F) is denoted as the characteristic value of matrix F, and Re () indicates the real part of variable；
When system fault-free, the theoretical input of system is equal with actually entering, at this time
Residual vector meets:
After system jam, the theoretical input of system with actually enter unequal, error equation and residual equation table at this time It is shown as:
System cannot restrain, i.e.,
System diverging；
Fault diagnosis is tentatively completed according to the residual signals that fault detection observer exports, is determined when residual signals are greater than given threshold System has broken down.
4. the vertically taking off and landing flyer complex fault according to claim 1 based on compound observer diagnoses discrimination method, It is characterized in that specific step is as follows for the step 3:
(1) 4 single channel diagnostic observations devices, corresponding four different engines, single channel diagnostic observations are established using roll channel Device form is as follows:
BxmIt indicates that input matrix B will be controlledxM column zero setting control matrix；bmIndicate the m column of control data matrix；F, G, L, M and H are parameter to be designed；
After system breaks down, realized by above-mentioned single channel diagnostic observations device to parameter pkuiEstimation；
(2) 4 groups of multi-channel coupling separation observers of following form are established, the complex fault mould of four engines generation is respectively corresponded Formula, for exporting corresponding residual signals:
BmIt indicates that the control matrix of the m column zero setting of input matrix B will be controlled；bmIndicate the m column of control data matrix；pkum= kmδkm, can accurately be estimated by single channel diagnostic observations device；It indicatesEstimated value, andSize byCertainly Fixed, F, G, L, M and H are matrix to be designed；
When step 1 form failure occurs in system, there was only m (m=i) a observer and physical fault in 4 separation filters There is identical control input structure, whenConverge to pkuiAndConverge to kiWhen, residual signals | | rm(t) | | it will level off to Zero, fault message kiPass through on-line tuning using adaptive lawIt estimates, other observer output residual error divergings, i.e.,
5. the vertically taking off and landing flyer complex fault according to claim 1 based on compound observer diagnoses discrimination method, It is characterized in that specific step is as follows for the step 3:
The judgement of servo mechanism fault mode:
If the expectation pivot angle of control system output is δki, pivot angle estimated value isThen pivot angle deviation is represented bySet given threshold value Δ δ0；
(1) fault-free
When pivot angle difference Δ δ is less than given threshold value Δ δ0When determine servo mechanism fault-free；
(2) it fails
When pivot angle difference Δ δ is greater than the floating threshold value Δ δ of pine0And failure servo mechanism pivot angle changes over time and changes, then judges event at this time Barrier mode is engine servo mechanism failure of removal；
(3) stuck
When pivot angle difference Δ δ is greater than the floating threshold value Δ δ of pine0And sick engine pivot angle does not change over time and changes, then judges event at this time Barrier mode is engine servo mechanism failure of removal；
Whether dynamical system breaks down judgement:
(1) fault-free
When thrust loss coefficientWhen estimated value is close to 1, dynamical system fault-free is determined；
(2) partial failure failure
When thrust loss coefficientWhen estimated value is less than 1, determine that dynamical system breaks down, and thrust loss coefficient is
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Cited By (6)

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