CN113093706B - Flight control system actuator micro fault diagnosis method based on comprehensive observer - Google Patents
Flight control system actuator micro fault diagnosis method based on comprehensive observer Download PDFInfo
- Publication number
- CN113093706B CN113093706B CN202110364454.7A CN202110364454A CN113093706B CN 113093706 B CN113093706 B CN 113093706B CN 202110364454 A CN202110364454 A CN 202110364454A CN 113093706 B CN113093706 B CN 113093706B
- Authority
- CN
- China
- Prior art keywords
- flight control
- control system
- actuator
- observer
- micro
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
-
- 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
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Feedback Control In General (AREA)
- Toys (AREA)
Abstract
The invention provides a flight control system actuator micro fault diagnosis method based on a comprehensive observer. In flight control systems, there are many control surfaces, and failure of a control surface can either degrade the quality and performance of the flight or cause significant disasters. Aiming at the micro faults of the flight control system actuator, the invention provides a comprehensive observer-based micro fault diagnosis method of the flight control system actuator under the guidance of a fault diagnosis thought based on an analytic model, which can timely detect the micro faults of multiple actuators and send out early warning information in advance so as to provide enough time for an aircraft to continue to finish tasks or safely return.
Description
Technical Field
The invention belongs to the technical field of fault diagnosis of aircrafts, and particularly relates to micro fault diagnosis of an actuator unit of a flight control system.
Background
Modern control systems and equipment are increasingly complex and scale-up, and such systems, once they fail, can cause significant loss of life and property. Fault diagnosis is becoming increasingly important as an important method and powerful measure to improve system reliability and reduce the risk of accidents. However, regardless of the size and severity of the fault, these faults begin with microscopic faults. The fault diagnosis technology is widely applied to equipment and systems in the fields of aviation, automobiles, communication, medicine and the like, monitors the state of the system, diagnoses faults and ensures the safety of the system. This technology has been one of the major topics of social concern, especially in fields where safety and real-time requirements are extremely high, such as civil and military aviation. In order to ensure reliable operation of the entire aircraft system, fault detection, diagnosis and elimination are of great importance.
Modern control systems and equipment are increasingly complex and scale-up, and such systems, once they fail, can cause significant loss of life and property. Fault diagnosis is becoming increasingly important as an important method and powerful measure to improve system reliability and reduce the risk of accidents. However, regardless of the size and severity of the fault, these faults begin with microscopic faults. The fault diagnosis technology is widely applied to equipment and systems in the fields of aviation, automobiles, communication, medicine and the like, monitors the state of the system, diagnoses faults and ensures the safety of the system. This technology has been one of the major topics of social concern, especially in fields where safety and real-time requirements are extremely high, such as civil and military aviation. In order to ensure reliable operation of the entire aircraft system, fault detection, diagnosis and elimination are of great importance.
Some minor faults in the flight control system are difficult to detect in time due to weak fault symptoms and very large noise, airflow disturbance and vibration signals in the flight process, but the major disaster accidents possibly occur along with gradual aggravation of the faults. Therefore, research on the micro fault diagnosis technology is developed around the flight control system, and the method has extremely important theoretical significance and engineering value for improving the flight reliability of the aircraft. Statistics show that the duty ratio of the actuator faults and the sensor faults is more than eight times of the reasons for causing the failure of the control surface system of the aircraft. Therefore, fault diagnosis studies for aircraft actuators and sensor systems are very important. The executor is used for responding to the control instruction sent by the flight control computer and dynamically responding to the change of the external environment, so that the state performance of the executor directly influences the flight quality; the sensors are used for measuring flight data information and feeding back to the flight control computer, so that dynamic response and management of the flight control system are established. If an actuator or sensor fails to cause a signal abnormality, it poses an extremely serious threat to flight safety. Therefore, the method has great significance and practical value for research on diagnosis of the micro faults of the actuator.
Disclosure of Invention
In flight control systems, there are many control surfaces, and failure of a control surface can either degrade the quality and performance of the flight or cause significant disasters. Aiming at the micro faults of the actuator of the flight control system, the invention provides a comprehensive observer-based micro fault diagnosis method of the actuator of the flight control system under the guidance of a fault diagnosis thought based on an analytic model, which can timely detect the micro faults of the actuator and send out early warning information in advance so as to provide enough time for the aircraft to continue to finish tasks or safely return to the air.
The technical scheme of the invention is as follows:
the method for diagnosing the micro faults of the flight control system actuator based on the comprehensive observer comprises the following steps:
step 1: the flight control system model with actuator failure is built as follows:
wherein A is E R n×n ,B∈R n×m ,C∈R p×n ,D∈R n×h ,E∈R n×r The system comprises a flight control system state matrix, an input matrix, an output matrix, a fault distribution matrix and a constant matrix, wherein the states of C and E are full ranks; ζ (x, t) represents the nonlinear interference of the system; psi (t) represents the uncertainty term of the system, f a (t) represents an actuator failure;
step 2: the design of the comprehensive observer is as follows:
wherein v is 1 For observer design parameters, L is the gain of the leberger observer, T and S are conversion matrices, and the conversion matrices are used to convert parameters in the flight control system model with actuator failure of step 1 as follows:
step 3: and (3) judging the micro fault of the actuator:
if residual is found
If the threshold value zeta is exceeded, determining that the actuator fault is detected, otherwise the system is healthy in the investigated time period; wherein e 2 For error dynamics, according to the formula:
and (5) determining.
Further, in step 1, the assumed conditions of the fault model of the flight control system with the actuator are as follows:
1)rank(CE)＝rank(E)；
2)
3)
4)f a ≤ρ a ，||ψ||≤γ；
wherein s is a non-negative number, L f Is a known Lipschitz constant, ρ a And γ is a known non-negative constant.
Further, the calculation formula of the design parameters of the comprehensive observer in the step 2 is as follows:
wherein k is 1 ＝||E 1 ||ξ+η 1 ，η 1 Positive number, ensuring that the error dynamic property is driven to a preset sliding mode surface; p (P) 1 Is a lyapunov matrix.
Advantageous effects
In flight control systems, there are many control surfaces, and failure of a control surface can either degrade the quality and performance of the flight or cause significant disasters. Aiming at the micro faults of the flight control system actuator, the invention provides a comprehensive observer-based micro fault diagnosis method of the flight control system actuator under the guidance of a fault diagnosis thought based on an analytic model, which can timely detect the micro faults of multiple actuators and send out early warning information in advance so as to provide enough time for an aircraft to continue to finish tasks or safely return.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
FIG. 1 is a schematic flow chart of the method of the present invention;
FIG. 2 is a block diagram of fault diagnostics based on an integrated observer;
fig. 3 is a diagram of the results of the actuator micro-fault diagnosis based on the integrated observer.
Detailed Description
The following detailed description of embodiments of the invention is exemplary and intended to be illustrative of the invention and not to be construed as limiting the invention.
As shown in fig. 1, the method for diagnosing the micro-faults of the flight control system actuator based on the comprehensive observer provided in the embodiment includes the following steps:
step 1: the fault model of the flight control system actuator is established as follows:
wherein x (t) ∈R n 、u(t)∈R m 、y(t)∈R P Respectively represent the state, control input and measurement output of a real system, A epsilon R n×n ,B∈R n×m ,C∈R p×n ,D∈R n×h ,E∈R n×r The method comprises the steps of respectively obtaining a known state matrix, an input matrix, an output matrix, a fault distribution matrix and a constant matrix in a flight control system, wherein the ranks of C and E are full; xi (x, t) represents the non-systemLinear interference; psi (t) represents the uncertainty term of the system, f a And (t) represents an actuator failure.
Wherein the assumption of the system model is as follows:
1)rank(CE)＝rank(E)；
2)
3)
4)f a ≤ρ a ，||ψ||≤γ；
wherein s is a non-negative number, L f Is a known Lipschitz constant, ρ a And γ is a known non-negative constant.
Step 2: converting the system in the step 1 into two subsystems by utilizing coordinate transformation matrixes T and S;
the coordinate transformation formula:
converting the system matrix into a coordinate transformation formula:
two subsystems were obtained:
wherein the method comprises the steps of
Design of comprehensive observer for two subsystems
Where L is the gain of the Drabert observer, v 1 For observer design parameters, the calculation formula is as follows:
k 1 ＝||E 1 ||ξ+η 1 ，η 1 positive number, ensuring that the error dynamic property is driven to a preset sliding mode surface; p (P) 1 Is a lyapunov matrix.
The stability of the designed comprehensive observer proves that the error dynamic property exists and tends to be gradually stable.
Step 3: and (3) judging the micro fault of the actuator:
performing error dynamic calculation
The problem of judging the secondary stability of the system is converted into the problem of whether the LMI has a solution or not by using the Schur lements.
The slip-form surface equation is established as follows: s= { (e) 1 ,e 2 )∣e 1 ＝0}。
Further, by judging: if residual is found
Beyond a given threshold ζ, it is determined that an actuator fault is detected, otherwise the system is healthy for the time period under investigation. Wherein ζ is given a small threshold value according to the actual simulation model.
The result diagram of the simulation of the method according to the invention is shown in fig. 3, and the method has good diagnosis effect on the micro faults of the actuator.
From the above, the method for diagnosing the micro faults of the flight control system actuator based on the comprehensive observer provided by the invention can timely detect the micro faults of the multiple actuators, and can send out early warning information in advance, so that enough time is provided for the aircraft to continue to complete tasks or safely return.
Although embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives, and variations may be made in the above embodiments by those skilled in the art without departing from the spirit and principles of the invention.
Claims (7)
1. A flight control system actuator micro fault diagnosis method based on a comprehensive observer is characterized in that: the method comprises the following steps:
step 1: the flight control system model with actuator failure is built as follows:
wherein A is E R n×n ,B∈R n×m ,C∈R p×n ,D∈R n×h ,E∈R n×r The system comprises a flight control system state matrix, an input matrix, an output matrix, a fault distribution matrix and a constant matrix, wherein the states of C and E are full ranks; ζ (x, t) represents the nonlinear interference of the system; psi (t) represents the uncertainty term of the system, f a (t) represents an actuator failure;
step 2: the design of the comprehensive observer is as follows:
wherein v is 1 For observer design parameters, L is the gain of the leberger observer, T and S are conversion matrices, and the conversion matrices are used to convert parameters in the flight control system model with actuator failure of step 1 as follows:
step 3: and (3) judging the micro fault of the actuator:
if residual is found
If the threshold value zeta is exceeded, determining that the actuator fault is detected, otherwise the system is healthy in the investigated time period; wherein e 2 For error dynamics, according to the formula:
and (5) determining.
2. The integrated observer-based micro fault diagnosis method for the flight control system actuator according to claim 1, wherein: in step 1, the hypothetical conditions for the flight control system model with actuator failure are as follows:
1)rank(CE)＝rank(E)；
2)
3)
4)f a ≤ρ a ，||ψ||≤γ；
wherein s is a non-negative number, L f Is a known Lipschitz constant, ρ a And γ is a known non-negative constant.
3. A method for diagnosing a micro-fault in an actuator of a flight control system based on an integrated observer as claimed in claim 1 or 2, wherein: the calculation formula of the design parameters of the comprehensive observer in the step 2 is as follows:
wherein k is 1 ＝||E 1 ||ξ+η 1 ，η 1 Is a positive number; p (P) 1 Is a lyapunov matrix.
4. A method for diagnosing a micro-fault in an actuator of a flight control system based on an integrated observer as set forth in claim 3, wherein: in the step 3, the stability of the comprehensive observer proves that the error dynamic property exists and tends to be gradually stable.
5. A method for diagnosing a micro-fault in an actuator of a flight control system based on an integrated observer as set forth in claim 3, wherein: in step 3, the problem of judging the secondary stability of the system is converted into the problem of whether the LMI has a solution or not by using the Schur lemma.
6. A method for diagnosing a micro-fault in an actuator of a flight control system based on an integrated observer as set forth in claim 3, wherein: in step 3, the sliding mode surface equation is
7. A device for diagnosing micro-faults of an actuator of a flight control system, which is characterized in that the method of claim 1 is adopted to diagnose the micro-faults of the actuator of the flight control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110364454.7A CN113093706B (en) | 2021-04-05 | 2021-04-05 | Flight control system actuator micro fault diagnosis method based on comprehensive observer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110364454.7A CN113093706B (en) | 2021-04-05 | 2021-04-05 | Flight control system actuator micro fault diagnosis method based on comprehensive observer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113093706A CN113093706A (en) | 2021-07-09 |
| CN113093706B true CN113093706B (en) | 2023-06-30 |
Family
ID=76673954
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110364454.7A Active CN113093706B (en) | 2021-04-05 | 2021-04-05 | Flight control system actuator micro fault diagnosis method based on comprehensive observer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113093706B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113960981B (en) * | 2021-10-21 | 2024-06-11 | 杭州电子科技大学 | Active fault diagnosis method for unmanned ship |
| CN114545907B (en) * | 2022-03-15 | 2023-12-19 | 中南大学 | Fault detection method of flight control system based on filter |
| CN115629547B (en) * | 2022-12-08 | 2023-04-25 | 西北工业大学 | Control surface fault-oriented aircraft airborne fault-tolerant control method and system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20100071554A (en) * | 2008-12-19 | 2010-06-29 | 주식회사 대한항공 | Actuator fault diagnosis of uavs using adaptive unknown input observers |
| CN106444701A (en) * | 2016-09-14 | 2017-02-22 | 南京航空航天大学 | Finite time robust fault diagnosis design method for leader-follower multi-agent system |
| CN107861383A (en) * | 2017-10-23 | 2018-03-30 | 天津大学 | Satellite failure diagnosis and fault tolerant control method based on Adaptive Observer |
| CN110362060A (en) * | 2019-07-01 | 2019-10-22 | 南京航空航天大学 | A kind of diagnostic method when control system actuator and sensor simultaneous faults |
-
2021
- 2021-04-05 CN CN202110364454.7A patent/CN113093706B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20100071554A (en) * | 2008-12-19 | 2010-06-29 | 주식회사 대한항공 | Actuator fault diagnosis of uavs using adaptive unknown input observers |
| CN106444701A (en) * | 2016-09-14 | 2017-02-22 | 南京航空航天大学 | Finite time robust fault diagnosis design method for leader-follower multi-agent system |
| CN107861383A (en) * | 2017-10-23 | 2018-03-30 | 天津大学 | Satellite failure diagnosis and fault tolerant control method based on Adaptive Observer |
| CN110362060A (en) * | 2019-07-01 | 2019-10-22 | 南京航空航天大学 | A kind of diagnostic method when control system actuator and sensor simultaneous faults |
Non-Patent Citations (1)
| Title |
|---|
| 基于神经网络滑模观测器的飞控***故障诊断;权璐;姜斌;杨蒲;;扬州大学学报(自然科学版)(第02期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113093706A (en) | 2021-07-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113093706B (en) | Flight control system actuator micro fault diagnosis method based on comprehensive observer | |
| Chen et al. | A review of fault detection and diagnosis for the traction system in high-speed trains | |
| CN112947392B (en) | Flight control system actuator and sensor composite tiny fault estimation method based on robust observer | |
| JP5473226B2 (en) | Aircraft engine monitoring method | |
| CN107272653B (en) | Fault diagnosis method for flight control system | |
| CN114564000B (en) | Active fault tolerance method and system based on intelligent aircraft actuator fault diagnosis | |
| CN107544459B (en) | Multiple fault diagnosis optimization method of control system | |
| Kordestani et al. | A new fault prognosis of MFS system using integrated extended Kalman filter and Bayesian method | |
| CN110554606A (en) | self-adaptive fault-tolerant control method for hypersonic aircraft | |
| CN115629547B (en) | Control surface fault-oriented aircraft airborne fault-tolerant control method and system | |
| Lu et al. | Fault detection, diagnosis, and performance assessment scheme for multiple redundancy aileron actuator | |
| Simon et al. | Analytic confusion matrix bounds for fault detection and isolation using a sum-of-squared-residuals approach | |
| CN104503428B (en) | A kind of anti-interference time-varying method for diagnosing faults of civil aircraft flight control system | |
| Cui et al. | Aero-engine fault diagnosis based on kernel principal component analysis and wavelet neural network | |
| CN112947391B (en) | Flight control system actuator tiny fault diagnosis method based on TOMFIR residual error | |
| CN106168760B (en) | Uncertain time-delayed systems determination of stability method based on convex polyhedron fault model | |
| Dhakal et al. | UAV Fault and Anomaly Detection Using Autoencoders | |
| CN111857098B (en) | Fault diagnosis method for electric actuator of gas turbine based on information statistical analysis | |
| Chen et al. | Fault detection and diagnosis of aircraft electro hydrostatic actuator control system | |
| Khan et al. | Integration Issues for Vehicle Level Distributed Diagnostic Reasoners | |
| Jiang et al. | Design approach to MIMO diagnostic observer and its application to fault detection | |
| CN113703419A (en) | Automatic testing method and device for redundancy management algorithm of flight control system | |
| Zhang et al. | Fault monitoring and diagnosis of aerostat actuator based on pca and state observer | |
| Romanova | Applying intelligent data analysis technologies for detecting damages to UAVs | |
| Wang et al. | UAV actuator fault detection using maximal information coefficient and 1-D convolutional neural network |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |