论文部分内容阅读
针对四旋翼飞行器在发生执行器故障情况下难以进行故障估计的问题,基于增广故障估计观测器和Luenberger故障检测观测器,提出了一种较为新颖的联合多观测器的故障诊断设计方法。该设计方法不仅能够有效地估计单通道执行器故障,解决故障分布阵列不满秩问题下故障估计难的问题,而且拓宽了增广故障估计观测器的适用范围。最后,通过Quanser 3-DOF Hover平台验证了所提算法的可靠性和有效性。
Aiming at the difficulty of fault estimation of quadrotor in the case of actuator failure, a novel fault diagnosis design method based on augmented fault observer and Luenberger fault observer is proposed. The design method not only can effectively estimate the single-channel actuator fault, solve the problem of fault estimation under the problem of unsatisfactory distribution of fault distribution array, but also broaden the scope of augmented fault estimation observer. Finally, the reliability and validity of the proposed algorithm are verified by Quanser 3-DOF Hover platform.