变体飞行器故障检测与容错控制一体化设计

doi:10.3969/j.issn.1000-1093.2017.04.012

兵工学报 ›› 2017, Vol. 38 ›› Issue (4): 711-721.doi: 10.3969/j.issn.1000-1093.2017.04.012

变体飞行器故障检测与容错控制一体化设计

程昊宇¹, 董朝阳¹, 江未来², 王青³, 隋晗¹

(1.北京航空航天大学航空科学与工程学院，北京 100083; 2.湖南大学电气与信息工程学院, 湖南长沙 410082; 3.北京航空航天大学自动化科学与电气工程学院, 北京 100083)

收稿日期:2016-05-10 修回日期:2016-05-10 上线日期:2017-06-06
通讯作者: 董朝阳(1966—), 男, 教授, 博士生导师. E-mail: dongchaoyang@buaa.edu.cn E-mail:6—), 男, 教授, 博士生导师. E-mail: dongchaoyang@buaa.edu.cn
作者简介:程昊宇(1990—), 男, 博士研究生。E-mail: chenghaoyu@buaa.edu.cn
基金资助:
国家自然科学基金项目（61273083、61374012）

Integrated Fault Detection and Fault Tolerant Control for Morphing Aircraft

CHENG Hao-yu¹, DONG Chao-yang¹, JIANG Wei-lai², WANG Qing³, SUI Han¹

（1.School of Aeronautic Science and Engineering, Beihang University, Beijing 100083， China; 2.College of Electrical and Information Engineering, Hunan University, Changsha 410082, Hunan, China; 3.School of Automation Science and Electrical Engineering, Beihang University, Beijing 100083, China）

Received:2016-05-10 Revised:2016-05-10 Online:2017-06-06

摘要/Abstract

摘要： 针对一类后掠翼可变的变体飞行器，考虑同时存在状态时滞和随机丢包的网络环境，基于切换系统理论，研究了变体飞行器闭环故障检测滤波器的设计问题。将变体飞行器建模成以高度、马赫数和后掠角为参变量的切换系统。为了保证系统能够有效检测出系统故障并且跟踪指令信号，基于一体化方法，设计基于模态依赖观测器的故障检测滤波器和基于残差估计的输出容错控制器。通过多Lyapunov-Krasovskii函数方法和平均驻留时间方法分析系统在异步切换情况下的稳定性。以线性矩阵不等式的形式给出满足给定性能指标滤波器和控制器存在的充分条件。通过仿真验证了所提方法能够有效检测出故障，输出信号能够准确跟踪指令信号，且在不确定情况下具有较好的鲁棒性。

关键词: 兵器科学与技术, 变体飞行器, 故障检测, 容错控制, 异步切换

Abstract: Considering the state delay and missing measurements in the network environment, the closed-loop fault detection for the morphing aircrafts with alterable sweep wings is investigated based on the switched system theory. The morphing aircraft is modeled as switched system which takes the altitude, Mach and wing sweep angle as parameters. Based on the integrated design method, the mode-dependent observer-based filter and the state estimation feedback controller are derived to ensure that the fault signal can be detected efficiently and the output can track the command signal accurately. The stability of the system is guaranteed by Lyapunov-Krasovskii functional method and average dwell time method. The sufficient existing conditions of filter and controller are given in the form of linear matrix inequalities (LMI). The simulated results show that the proposed method can detect the fault signal efficiently, the output can be used to track the command signal, and the system is robust to parameter uncertainties. Key

Key words: ordnancescienceandtechnology, morphingaircraft, faultdetection, faulttolerantcontrol, asynchronousswitching

中图分类号:

V249.121

程昊宇, 董朝阳, 江未来, 王青, 隋晗. 变体飞行器故障检测与容错控制一体化设计[J]. 兵工学报, 2017, 38(4): 711-721.

CHENG Hao-yu, DONG Chao-yang, JIANG Wei-lai, WANG Qing, SUI Han. Integrated Fault Detection and Fault Tolerant Control for Morphing Aircraft[J]. Acta Armamentarii, 2017, 38(4): 711-721.

参考文献

［1］何墉, 章卫国, 王敏文, 等. 基于多目标控制的变体飞行器切换线性变参数控制器［J］. 控制理论与应用, 2015, 32(11): 1519-1525.
HE Yong, ZHANG Wei-guo, WANG Min-wen, et al. Switching linear-parameter-varying controller for morphing aircraft based on multi-objective［J］. Control Theory & Applications, 2015, 32(11): 1519-1525. (in Chinese)
［2］ Jiang W L, Dong C Y, Wang Q. A systematic method of smooth switching LPV controllers design for a morphing aircraft［J］. Chinese Journal of Aeronautics, 2015, 28(6): 1640-1649.
［3］ Fiacchini M, Jungers M. Necessary and sufficient condition for stability of discrete-time linear switched systems: a set-theory approach［J］. Automatica, 2014, 50(1):75-83.
［4］ Yuan C Z, Wu F. Asynchronous switching output feedback control of discrete-switched linear systems ［J］. International Journal of Control, 2015, 88(9):1766-1774.
［5］方志明, 向峥嵘. 一类切换系统切换序列的优化设计［J］. 兵工学报, 2011, 32(1):124-128.
FANG Zhi-ming, XIANG Zheng-rong. Optimal switching sequence for a kind of switched systems［J］. Acta Armamentarii, 2011, 32(1): 124-128. (in Chinese)

［6］陈章, 梁斌, 张涛, 等. 一种基于切换控制律的机器人双边遥操作方法［J］. 宇航学报, 2015, 36(4):410-418.
CHEN Zhang, LIANG Bin, ZHANG Tao, et al. A switching control law based bilateral teleoperation approach for robot ［J］. Journal of Astronautics, 2015, 36(4):410-418.(in Chinese)
［7］李杰, 齐晓慧, 夏元清, 等. 线性/非线性自抗扰切换控制方法研究［J］. 自动化学报, 2016, 42(2): 202-212.
LI Jie, QI Xiao-hui, XIA Yuan-qing, et al. On linear/nonlinear active disturbance rejection switching control ［J］. Acta Automatica Sinica, 2016, 42(2): 202-212. (in Chinese)

［8］王奇, 吴文海. 一种非线性自适应切换控制混合方法及其在倾转旋翼机上的应用［J］. 航空学报, 2015, 36(10): 3359-3369.
WANG Qi, WU Wen-hai. A nonlinear adaptive switching control blending method and its application to tiltrotor［J］. Acta Aeronautica et Astronautica Sinica, 2015, 36(10): 3359-3369. (in Chinese)
［9］沈桂鹏, 王从庆, 王琪. 双框架飞机蒙皮检测机器人切换运动控制方法［J］. 航空学报, 2015, 36(6):2064-2073.
SHEN Gui-peng, WANG Cong-qing, WANG Qi. Switching motion control of an aircraft skin detection robot with double frames［J］. Acta Aeronautica et Astronautica Sinica, 2015, 36(6):2064-2073. (in Chinese)

［10］ de Souza C E , Coutinho D. Robust stability and control of uncertain linear discrete-time periodic systems with time delay［J］. Automatica, 2014, 50(2):431-441.
［11］詹习生, 吴杰, 关治洪, 等. 基于丢包和带宽限制网络化系统稳定性分析［J］. 控制理论与应用, 2014, 31(8): 1111-1115.
ZHAN Xi-sheng, WU Jie, GUAN Zhi-hong, et al. Stability ana- lysis of networked system based on packet dropouts and bandwidth constraints［J］. Control Theory & Applications, 2014, 31(8): 1111-1115. (in Chinese)
［12］李岳炀, 钟麦英. 具有多测量数据包丢失的线性离散时变系统故障检测滤波器设计［J］. 自动化学报, 2015, 41(9): 1638-1648.
LI Yue-yang, ZHONG Mai-ying. Fault detection filter design for linear discrete time-varying systems with multiple packet dropouts［J］. Acta Automatica Sinica, 2015, 41(9): 1638-1648. (in Chinese)
［13］彭建鑫, 刘海鸥, 王滨, 等. 自动变速操纵系统稳态过程故障检测和诊断技术研究［J］. 兵工学报, 2013, 34(11): 1352-1358.
PENG Jian-xin, LIU Hai-ou, WANG Bin, et al. Research on fault detection and diagnosis of automatic transmission control system under steady state condition［J］. Acta Armamentrii, 2013, 34(11): 1352-1358. (in Chinese)
［14］ Chadli M, Abdo A, Ding S X. H_/H_∞ fault detection filter design for discrete-time Takagi-Sugeno fuzzy system［J］. Automatica, 2013, 49(7):1996-2005.
［15］ Du D S, Jiang B, Shi P. Fault detection for discrete-time switched systems with intermittent measurements［J］. International Journal of Control, 2012, 85(1): 78-87.
［16］ Feng J, Wang S Q, Zhao Q. Closed-loop design of fault detection for networked non-linear systems with mixed delays and packet losses［J］. IET Control Theory and Applications, 2013, 7(6): 858-868.
［17］ Wang Z L, Wang Q, Dong C Y, et al. Closed-loop fault detection for full-envelope flight vehicle with measurement delays［J］. Chinese Journal of Aeronautics, 2015, 28(3): 832-844.
［18］ Li J, Yang G H. Simultaneous fault detection and control for switched systems under asynchronous switching［J］. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 2013, 227(1): 70-84.
［19］周东华, 刘洋, 何潇. 闭环系统故障诊断技术综述［J］. 自动化学报, 2013, 39(11): 1933-1943.
ZHOU Dong-hua, LIU Yang, HE Xiao. Review on fault diagnosis techniques for closed-loop systems［J］. Acta Automatica Sinica, 2013, 39(11): 1933-1943. (in Chinese)

［20］ Yang T T, Li A J, Niu E Z. Robust dynamic output feedback control for switched polytopic systems under asynchronous swit-ching［J］. Chinese Journal of Aeronautics, 2015, 28(4): 1226-1235.
［21］ Zhang L X, Shi P. Stability, l₂-gain and asynchronous H_∞ control of discrete-time switched systems with average dwell time ［J］. IEEE Transactions on Automatic Control, 2009, 54(9): 2193-2200.
［22］ Zhang L X, Gao H J. Asynchronously switched control of switched linear systems with average dwell time ［J］. Automatica, 2010, 46(5): 953-958.
［23］ Guo L, Chen W H. Disturbance attenuation and rejection for systems with nonlinearity via DOBC approach［J］. International Journal of Robust and Nonlinear Control, 2005, 15(3): 109-125.

第38卷
第4期2017 年4月兵工学报ACTA
ARMAMENTARIIVol.38No.4Apr.2017

[1]	岳彬，马文，呼卫军. 高超声速飞行器的自适应容错控制[J]. 兵工学报, 2021, 42(3): 521-529.
[2]	史贤俊，王康，韩旭，龙玉峰. 基于层次Bayesian网络及后验风险准则的故障样本量确定方法[J]. 兵工学报, 2019, 40(1): 171-181.
[3]	夏川，董朝阳，程昊宇，王青，王昭磊. 变体飞行器有限时间切换H_∞跟踪控制[J]. 兵工学报, 2018, 39(3): 485-493.
[4]	田灵飞，钱林方，陈龙淼，岳才成. 基于未知输入观测器的车载炮电液位置伺服系统故障检测[J]. 兵工学报, 2018, 39(11): 2100-2108.
[5]	李炳乾，董文瀚，马小山. 无人机编队保持反步容错控制[J]. 兵工学报, 2018, 39(11): 2172-2184.
[6]	娄伟鹏，郑长松，李和言，陈建文，张周立，马源. 高速《Symbol》v湿式换挡离合器排油阀临界开启和关闭压力研究[J]. 兵工学报, 2017, 38(9): 1665-1672.
[7]	王宪成，杨绍卿，马宁，赵文柱. 车辆柴油机缸套动载荷磨损计算模型研究[J]. 兵工学报, 2017, 38(9): 1673-1680.
[8]	孙皓泽，常天庆，王全东，孔德鹏，戴文君. 一种基于分层多尺度卷积特征提取的坦克装甲目标图像检测方法[J]. 兵工学报, 2017, 38(9): 1681-1691.
[9]	张玉燕，孙莎莎，王振春，曹海要，战再吉. 高速载流电枢表面瞬态温度场仿真与测量[J]. 兵工学报, 2017, 38(9): 1692-1698.
[10]	李臣明，宦超，石怀龙. 某箱式火箭炮对面目标分布式杀伤最优火力分配[J]. 兵工学报, 2017, 38(9): 1699-1704.
[11]	雷娟棉，张嘉炜，谭朝明. 小攻角下船尾外形对旋转弹丸马格努斯效应影响的数值研究[J]. 兵工学报, 2017, 38(9): 1705-1715.
[12]	李泽，闫晓鹏，栗苹，郝新红，王建涛. 扫频式干扰对调频多普勒引信的干扰机理研究[J]. 兵工学报, 2017, 38(9): 1716-1722.
[13]	张浩为，谢军伟，张昭建，宗彬锋，陈唐军. 基于混合自适应遗传算法的相控阵雷达任务调度[J]. 兵工学报, 2017, 38(9): 1761-1770.
[14]	李茂，侯海量，朱锡，黄晓明，李典，陈长海，胡年明. 结构间隙对芳纶纤维增强复合装甲结构抗侵彻性能的影响[J]. 兵工学报, 2017, 38(9): 1797-1805.
[15]	王鉴, 韩焱, 王黎明, 张丕状, 陈平. 弹丸在膛内运动的回波信号瞬时频率估计方法研究[J]. 兵工学报, 2017, 38(9): 1806-1814.

变体飞行器故障检测与容错控制一体化设计

Integrated Fault Detection and Fault Tolerant Control for Morphing Aircraft

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价