无人机系统自平衡容错控制与故障诊断

Self balancing fault-tolerant control and fault diagnosis for UAV system

摘要:

随着无人机的广泛普及和自主控制技术的深入研究，现代战争已经离不开无人机的身影。而无人机在其拥有特殊优势的同时也需要更多的维护来确保无人机执行任务过程中的安全。本文引入生物学思想中的自平衡理论，进行无人机容错控制与故障诊断系统设计，通过设计“平衡点”确定无人机的安全状态，并建立基于原始内驱力和次要内驱力的自平衡理论模型，将容错控制与故障诊断不仅应用于故障预测和健康管理，更创新提出将容错控制与故障诊断作为判断无人机是否可作为攻击时自杀武器的判据。仿真试验表明，无人机在穿越敌占区时，可根据自身的故障情况判断是否可以返航或作为自杀式武器，证明了算法的有效性。

Abstract:

With the widespread popularity of UAVs and the further research of autonomous control technology, the modern war is inseparable from the figure of UAV. While UAVs have their special advantages, more maintenance is needed to ensure the safety of UAVs in executing tasks. In this paper, the self balance theory of biological thought is introduced to design the fault tolerant control and fault diagnosis system of unmanned aerial vehicle. By designing "balance point", the safety state of unmanned aerial vehicle is determined, and a self balance theory model based on the original internal drive and secondary internal drive is set up, and fault tolerance control and fault diagnosis is applied not only to the fault precondition. In terms of measurement and health management, it is more innovative to propose fault tolerance control and fault diagnosis as a criterion to decide whether a UAV can be used as a suicide weapon when attacking. The simulation test shows that the UAV can judge whether it can be returned to sail or as a suicidal weapon when crossing the enemy occupied area, and the effectiveness of the algorithm is proved.