系统工程与电子技术
繫統工程與電子技術
계통공정여전자기술
SYSTEMS ENGINEERING AND ELECTRONICS
2015年
1期
155-162
,共8页
纵向模型%参数不确定性%故障重构%增广容积卡尔曼滤波%自适应观测器
縱嚮模型%參數不確定性%故障重構%增廣容積卡爾曼濾波%自適應觀測器
종향모형%삼수불학정성%고장중구%증엄용적잡이만려파%자괄응관측기
longitudinal model%parametric uncertainty%fault reconstruction%augmented cubature Kalman filter (ACKF)%adaptive observer
飞行器在全包络上表现出明显的气动参数不确定性，以某无人机纵向模型为研究对象，提出一种不确定参数在线估计的自适应观测器故障重构方法。首先，将系统状态方程描述为一类带时变参数的仿射非线性结构，在参数增广系统能观性分析基础上，采用增广容积卡尔曼滤波（augmented cubature Kalman filter，ACKF）算法实现气动参数在线估计，以克服鲁棒性死区故障检测方法的保守性，提高检测灵敏度。其次，将所估计参数用于自适应观测器设计，由于 Lie 导数分析方法保证了对象系统的能观性，故系统不必满足文献方法中的特定规范形式；在此基础上，给出了故障检测自适应阈值和故障参数调节律，并分析了估计误差的收敛性。仿真实验表明了所提方法的有效性。
飛行器在全包絡上錶現齣明顯的氣動參數不確定性，以某無人機縱嚮模型為研究對象，提齣一種不確定參數在線估計的自適應觀測器故障重構方法。首先，將繫統狀態方程描述為一類帶時變參數的倣射非線性結構，在參數增廣繫統能觀性分析基礎上，採用增廣容積卡爾曼濾波（augmented cubature Kalman filter，ACKF）算法實現氣動參數在線估計，以剋服魯棒性死區故障檢測方法的保守性，提高檢測靈敏度。其次，將所估計參數用于自適應觀測器設計，由于 Lie 導數分析方法保證瞭對象繫統的能觀性，故繫統不必滿足文獻方法中的特定規範形式；在此基礎上，給齣瞭故障檢測自適應閾值和故障參數調節律，併分析瞭估計誤差的收斂性。倣真實驗錶明瞭所提方法的有效性。
비행기재전포락상표현출명현적기동삼수불학정성，이모무인궤종향모형위연구대상，제출일충불학정삼수재선고계적자괄응관측기고장중구방법。수선，장계통상태방정묘술위일류대시변삼수적방사비선성결구，재삼수증엄계통능관성분석기출상，채용증엄용적잡이만려파（augmented cubature Kalman filter，ACKF）산법실현기동삼수재선고계，이극복로봉성사구고장검측방법적보수성，제고검측령민도。기차，장소고계삼수용우자괄응관측기설계，유우 Lie 도수분석방법보증료대상계통적능관성，고계통불필만족문헌방법중적특정규범형식；재차기출상，급출료고장검측자괄응역치화고장삼수조절률，병분석료고계오차적수렴성。방진실험표명료소제방법적유효성。
Aiming at the obvious aerodynamic parametric uncertainties of aircraft in the full flight envelope, a fault reconstruction method based on a modified adaptive observer is proposed.The adaptive observer is im-proved by the uncertain parameter estimation process and validated on the longitudinal model of some unmanned vehicle.According to this method,the longitudinal model is described as an affine nonlinear structure with time variant parameters,and the observability of its parameter-augmented model is analyzed.On this basis,to deal with conservatism of the robustness dead zone technique in fault detection and refine the detection sensitivity, aerodynamic parameters are identified on line by the augmented cubature Kalman filter (ACKF)algorithm. Then the parameter estimations are adopted in adaptive observer design.As the Lie derivative based criterion guarantees observability of the object system,the literature restriction that the object system must be within some particular structure is avoided.Based on this,the adaptive fault detection threshold and the fault parame-ter regulation law are derived,and the convergency of the estimation error is analyzed.Finally,simulations are conducted to testify the availability of this method.
