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题名	Hex-Rotor无人飞行器执行单元的故障分析与飞行控制
作者	赵常均
学位类别	博士
答辩日期	2015-05
授予单位	中国科学院大学
导师	续志军
关键词	执行单元 升力因子 卡尔曼滤波算法 故障检测与诊断系统 自重构控制器
其他题名	Fault Analysis of Execution Units and Flight Control for Hex-Rotor Unmanned Aerial Vehicle
学位专业	机械电子工程
中文摘要	近十几年来，无人飞行器凭借其在军事与民用上广阔的应用前景得到了相关工程技术人员越来越多的重视，并取得了大量的研究成果。本文研究一种在平面多旋翼无人飞行器结构上发展而来的Hex-Rotor无人飞行器，该型飞行器通过六个旋翼在空间结构上带倾角的配置，改善了多旋翼无人飞行器偏航控制力矩弱的缺点，同时增加了飞行器的有效负载重量、滞空时间以及故障冗余能力。本文将围绕Hex-Rotor无人飞行器的数学模型、执行单元故障分析、故障检测与诊断系统以及控制系统中的相关问题进行研究，主要内容包括以下几个方面： 对Hex-Rotor无人飞行器的动力学特性进行了研究，分析动力学特性并建立动力学模型是设计飞行控制系统的基础。在对飞行器结构构型充分研究的基础上，通过合理的简化并利用相关动力学知识建立其质心平动与机体绕质心转动的动力学模型。最后给出了Hex-Rotor无人飞行器原型机的硬件架构(运算层、通讯层以及任务层)，并阐述了提高原型机软硬件可靠性的基本方法与下一步的研究内容。 建立执行单元的升力故障模型。首先对无刷直流电动机的模型进行了研究分析，并设计扩张状态观测器估计电动机的负载阻转矩。接下来阐述了驱动电路板常见的故障类型以及对飞行器系统的危害。然后分析了旋翼反扭力矩模型及升力模型，研究表明升力因子和反扭力矩因子会随外界因素有一定程度的波动，将其常量化的做法在某些条件下会降低控制效果。另外，本文还指出旋翼旋转的动不平衡对升力模型的影响，并通过FIR滤波器在一定程度上消除了升力波动带来的噪声。最后，分析执行单元故障类型(电动机故障、驱动电路板故障与旋翼故障)， 建立升力故障模型(增益性故障与失效故障)。 设计执行单元的故障检测与诊断系统，该系统是主动容错控制方法的基础。本文针对不同的故障类型设计相应的故障检测与诊断系统(由基于最优分类面的故障诊断算法和基于扩展卡尔曼滤波算法的故障观测器组成)。基于最优分类面的故障诊断算法主要针对驱动电路板故障与电动机故障设计，提取自身状态量在线监测电动机与驱动电路板的工作状况；基于扩展卡尔曼滤波器的故障观测器主要针对旋翼故障而设计，实时估计各个执行单元的升力因子。该故障检测与诊断系统能够很好的完成故障分离与故障识别，实时监控飞行器状态，为飞行器的安全飞行提供有力保障。 构建Hex-Rotor无人飞行器的控制系统。首先改进了执行单元的软硬件及稳速控制算法，提高了执行单元的可靠性与控制效果。接下来，研究了Hex-Rotor无人飞行器姿态稳定控制问题，建立了基于反演滑模的姿态控制算法，从理论上证明了控制算法的收敛，并通过故障检测与诊断系统的观测信息修正反演滑模的输入控制矩阵，提高姿态稳定控制器的抗扰能力。然后设计了双闭环嵌套结构的轨迹跟踪控制算法，并利用虚拟目标点的方法降低了偏航角误差对跟踪轨迹的影响。最后研究了Hex-Rotor飞行器的自重构控制算法，这是主动容错控制方法的核心内容，自重构控制器将通过故障检测与诊断系统提供的故障信息(增益性故障或失效性故障)重构控制器，提高了飞行的安全性。 最后，总结了全文所做的工作，提出了今后需要进一步研究的问题。
英文摘要	Over the last decade, Unmanned Aerial Vehicle (UAV) has been drawing more and more attention from engineers and scientists due to its potentials in both military and civilian areas. This paper studies a Hex-Rotor UAV developed on the basis of planar multi-rotor unmanned aircraft. In this structure, the six rotors tilts from its axis thus improve the weakness in the yaw control of the UAV. The weight of the aircraft's payload, endurance and fault redundancy were also increased. This paper will focus on the mathematical model of Hex-Rotor UAV, failure analysis, fault detection and diagnosis systems, and control systems research related issues. The main contents include the following aspects: The dynamics of Hex-Rotor UAV were studied. Dynamics analysis and dynamic model is the basis for the design of flight control system. The multi-rotor UAV structural configuration was studied thoroughly and several reasonable simplifications were made using relevant knowledge. The dynamics model of the UAV’s translation and rotation motion around its center of mass was built. Finally, hardware architecture of the Hex-Rotor UAV prototype (computing layer, communication layer and task layer) was established, and the basic methods to improve the reliability of the prototype’s hardware and software was describes. The contents of further researches were also explained. The lift fault model of the execution units was established. First, the model of brushless DC motor was studied and analyzed, and an Extended State Observer (ESO) was designed to estimate the load resistance torque of the motor. Then the common types of fault on drive circuit board and their hazards on the aircraft systems were explained. Analysis of the rotor anti-torque and twist lift model shows that the lift factor and anti-twist torque factor will fluctuate with external factors, and set them as constants will reduce the control effect. In addition, this paper also points out the effect of rotor’s rotation dynamic imbalance on lift model, and eliminates the lift fluctuations noise by a FIR filter. Finally, the execution unit fault type was analyzed (motor failure, the drive circuit board failure and rotor failure), and the lift fault model was established (gain type faults and failure conditions). Fault detection and diagnosis system of the execution unit was studied, which is the basis of active fault tolerant control method. This paper designs appropriate fault detection and fault diagnosis system against different fault types (consists of fault diagnosis algorithm based on optimal hyperplane and fault observer based on Extended Kalman Filter). Fault diagnosis algorithm based on the optimal hyperplane was majorly designed for the fault with the motor drive circuit board, which extracts its own state and monitors working conditions of the motor drive circuit board in real-time. While fault observer based on Extended Kalman Filter was majorly designed against rotor failure, real-time estimates the lift factor of each execution unit. This fault detection and diagnosis system can effectively complete fault isolation, fault identification and real-time monitoring of UAV’s status, improving aircraft flight safety levels. A Hex-Rotor UAV control system was established. First, the software and hardware of execution units and a speed-stabilizing control algorithm was designed to improve reliability. Next, the Hex-Rotor UAV attitude stabilization control problem was studied.A control algorithms based on backstepping sliding mode method was proposed,and control algorithm was proved convergent theoretically. Observation information was collected from fault detection and diagnosis system, and was used to adjust sliding mode controller of the input control matrix, in order to improve attitude control stability. A dual-loop nested structure of pace tracking algorithm was raised, and virtual target point was used to reduce the influence of yaw angle error. Finally, the Hex-Rotor UAV’s self-reconfigurable control algorithm was researched, which is the core of active fault tolerant control. Self-reconfigurable controller will reconfigure the control structure depending on the fault information provided by fault detection and diagnosis systems. In this paper, two different reconfiguration controllers were adopted for gain type faults and failure conditions, and were proven stable. Finally, the work that had been done was summarized and issues for further research were raised.
公开日期	2015-12-24
内容类型	学位论文
源URL	[http://ir.ciomp.ac.cn/handle/181722/48960]
专题	长春光学精密机械与物理研究所_中科院长春光机所知识产出
推荐引用方式 GB/T 7714	赵常均. Hex-Rotor无人飞行器执行单元的故障分析与飞行控制[D]. 中国科学院大学. 2015.

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