模型跟踪
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High-gain observer
Dynamic surface
backstepping control
模型跟踪的主要思想是让飞控系统的信号和参考
模型的信号实时比较, 将信号误差反馈给控制器以调节
系统的性能, 使之在故障情况下依然与参考模型保持一
致。文献[ 10 ]基于伪逆思想设计了模型跟踪重构方法,
In this paper the rigorous proof of fault diagnosis and self-repairing control comprehensive study on the repair capacity of various faults, this method ensures that the repair time is short, good quality repair process control, repair, and other aspects of the higher capacity needs. The simulation results also support the conclusion.
ence , S an Francisco , US A , 2005 ; 1 - 30.
[ 29 ] Napolitano M R , An Y, Seanor B A. A fault tolerant flight
cont rol system for sensor and act uator failures using neural net2
出一种渐近调节的主动容错控制方案, 在维持系统性能的
同时有效克服了由于故障检测和诊断的延时[ tF , tR ]对系统
产生的影响。
自适应重构由于其方法的灵活性和多样性, 在飞控系
统的容错控制中起着重要的作用。文献[14 ]基于卡尔曼滤
波方法提出一种飞控系统故障检测估计和容错集成设计方
案。在献[18 ]中,线性矩阵不等式方法运用在飞机自适应
[30 ]将自适应和神经网络相结合提出了一种鲁棒飞控系统
容错方法。文献[20 ]将多模型匹配及在线模糊辨识的思想
与伪逆重献[31 ]提出一种基于模糊观测器的飞控系统
容错控制方案。
[ 27 ] Ho L W , Yen G G. Real2time reconfigurable cont rol system
works[J ] . A i rcraf t Desi gn , 2000 , 3 (2) :103 - 128.
[ 30 ] 杨浩,姜斌,王骏. 基于神经网络的飞控系统重构方法[ C] ∥第
24 届中国控制会议论文集, 2005 : 1420 - 1424.
[ 31 ] 董敏. 基于模糊观测器的故障诊断与容错控制研究[D] . 南京
In this paper, in [33] proposed self-repairing control of some of the basic concepts, control surface using five different single plane relationship between the control surfaces, combined with self-repairing flight control requirements of the basic assumptions, proposed self-healing control the structure; Based on this control structure, a new actuator/control surface failure describes the form of self-repairing control law to solve the fixed control vector into the solution, simplifying the traditional self-healing control law process.
别出故障类型并进行控制器的调节。在文献[25 - 26 ]中,
几种基于自适应估计的模型识别和重构方法进行了比较。
文献[8 ]针对飞机舵面故障的不同类型,在自适应故障检测
的基础上,按重要程度将故障分为轻微故障和严重故障,分
别对两者运用不同的策略, 保证了容错及时性和计算复杂
性的平衡。
在飞行控制领域, 飞机模型其实际上是强非线性且强
耦合的,而在将非线性飞机模型线性化时必然产生线性化
误差,这会导致模型的不匹配。同时,现代化飞机具有大迎
角过失速机动能力,其飞行包络已经极大地扩展,这使得传
统的基于线性模型已经无法满足要求。目前, 基于非线性
飞控系统的容错控制也取得了一些成果, 这些成果的基本
思想和线性模型类似, 如模型跟踪、自适应重构等等, 但具
保证飞机在故障情况下仍有很好的模型跟踪性能。基
于特征值配置的容错控制方法在文献[ 11 ] 中进行了讨
论。容错跟踪控制后飞控系统性能的下降程度在文献
[ 12 - 13 ]中进行了详细分析。多模型方法在飞控系统
的容错控制中也得到了很好的应用[ 14 - 16 ] , 相对于单模
型跟踪, 多模型方法可以提供更大的设计自由度, 首先
航空航天大学,2007.
[ 20 ] Ye D , Yang G H. Adaptive fault2tolerant t racking cont rol a2
能) 在文献[ 34 ] 中进行了详细分析。文献[ 35 ] 用
Markov 模型对故障过程建模, 运用“覆盖”( coverage)
的概念分析了系统的可容错性。文献[ 36 ] 提出了基于
非线性动态逆的容错控制方法。
。文献[27 - 29 ]运用
神经网络进行在线识别以保证容错控制器的设计, 文献
[ 28 ] Weerdt E de , Chu Q P , Mulder J A. Neural network aerody2
namic model identification for aerospace reconfiguration [ C] ∥
Proc. of A IA A Gui dance , N avi gation , and Cont rol Conf er2
In the actuator/control surface failure on the basis of the parameters of the model for the actuator/control surface stuck actuator faults and defects, respectively, and the defect is designed stuck fault vector under the control of the parameters fixed adaptive law, and the form of a theorem gives the closed-loop characteristics of the restored system.
For no fault plane is designed based on backstepping (Backstepping) speed, slip angle tracking control law to ensure trouble-free tracking performance of aircraft; Backstepping design for the virtual control law on the differential control law due to the complexity of the issue, derived dynamic surface (Dynamic surface) Adaptive backstepping speed, slip angle tracking control law, and strict proof is given;
体方法有很大不同。
在文献[ 32 - 33 ] 中, 非线性飞控系统首先被化为
严格反馈控制型, 然后将观测器和回步设计相结合, 针
对舵面卡死故障设计容错控制律。容错系统的性能分
析( 在[ 0 , tF ] , [ tF , tD ] , [ tD , tR ] , [ tR , ∞) 各时间段的性
Diagnosis
Self-healing control
Efficiency loss matrix
Differential compensation matrix
Repair control vector
Actuator / control surface
Adaptive control
Thought for the adaptive control based on adaptive control law can not be repaired to ensure fault parameters converge to the true value of the inadequate use of the actuator/control surface parameter model, a fault line identification model parameters, according to estimates of fault parameters and the basic control law structure of active self-healing control of vector control since the restoration program. Since the program's control law, while failure occurs in almost immediate effect, to place the actuator failure or damage the aircraft's self-healing process and the transition from conventional rehabilitation program compared with control steadily and rapidly. Fault parameters and can provide real value for the failure to provide useful information when found.
design using on2line neural estimator [ C] ∥Proc. of the 2002
I nternat ional J oint Conf . on Neural Networks , Honol uluo,
US A , 2002 : 559 - 564.
重构跟踪控制中。文献[19 ]将故障后的重构转化为扰动抑
制问题,并在直升机系统上进行了实验。考虑到飞控系统
的某些状态不可测,基于观测器的容错控制方法也得到了
深入研究[21 - 23 ] ,主要思想是用故障诊断观测器同时估计出
状态和故障的值,并将估计值用于容错控制器的设计。文
献[24 ]利用多模型自适应方法和滑模设计思想, 有效地识
设定多个不同状态的模型及其控制器, 依据转换标准判
断当前飞机状态与哪一个模型最接近并转换到相应控
制器上, 实现故障系统的控制重构
线性二次型调节作为有力的线性系统分析工具也被运
用在飞控系统中。大部分相关方法都属于被动容错控制的
范畴,如文献[9 ] 。而文献[17 ]利用线性二次型优化理论提
Dynamic surface
backstepping control
模型跟踪的主要思想是让飞控系统的信号和参考
模型的信号实时比较, 将信号误差反馈给控制器以调节
系统的性能, 使之在故障情况下依然与参考模型保持一
致。文献[ 10 ]基于伪逆思想设计了模型跟踪重构方法,
In this paper the rigorous proof of fault diagnosis and self-repairing control comprehensive study on the repair capacity of various faults, this method ensures that the repair time is short, good quality repair process control, repair, and other aspects of the higher capacity needs. The simulation results also support the conclusion.
ence , S an Francisco , US A , 2005 ; 1 - 30.
[ 29 ] Napolitano M R , An Y, Seanor B A. A fault tolerant flight
cont rol system for sensor and act uator failures using neural net2
出一种渐近调节的主动容错控制方案, 在维持系统性能的
同时有效克服了由于故障检测和诊断的延时[ tF , tR ]对系统
产生的影响。
自适应重构由于其方法的灵活性和多样性, 在飞控系
统的容错控制中起着重要的作用。文献[14 ]基于卡尔曼滤
波方法提出一种飞控系统故障检测估计和容错集成设计方
案。在献[18 ]中,线性矩阵不等式方法运用在飞机自适应
[30 ]将自适应和神经网络相结合提出了一种鲁棒飞控系统
容错方法。文献[20 ]将多模型匹配及在线模糊辨识的思想
与伪逆重献[31 ]提出一种基于模糊观测器的飞控系统
容错控制方案。
[ 27 ] Ho L W , Yen G G. Real2time reconfigurable cont rol system
works[J ] . A i rcraf t Desi gn , 2000 , 3 (2) :103 - 128.
[ 30 ] 杨浩,姜斌,王骏. 基于神经网络的飞控系统重构方法[ C] ∥第
24 届中国控制会议论文集, 2005 : 1420 - 1424.
[ 31 ] 董敏. 基于模糊观测器的故障诊断与容错控制研究[D] . 南京
In this paper, in [33] proposed self-repairing control of some of the basic concepts, control surface using five different single plane relationship between the control surfaces, combined with self-repairing flight control requirements of the basic assumptions, proposed self-healing control the structure; Based on this control structure, a new actuator/control surface failure describes the form of self-repairing control law to solve the fixed control vector into the solution, simplifying the traditional self-healing control law process.
别出故障类型并进行控制器的调节。在文献[25 - 26 ]中,
几种基于自适应估计的模型识别和重构方法进行了比较。
文献[8 ]针对飞机舵面故障的不同类型,在自适应故障检测
的基础上,按重要程度将故障分为轻微故障和严重故障,分
别对两者运用不同的策略, 保证了容错及时性和计算复杂
性的平衡。
在飞行控制领域, 飞机模型其实际上是强非线性且强
耦合的,而在将非线性飞机模型线性化时必然产生线性化
误差,这会导致模型的不匹配。同时,现代化飞机具有大迎
角过失速机动能力,其飞行包络已经极大地扩展,这使得传
统的基于线性模型已经无法满足要求。目前, 基于非线性
飞控系统的容错控制也取得了一些成果, 这些成果的基本
思想和线性模型类似, 如模型跟踪、自适应重构等等, 但具
保证飞机在故障情况下仍有很好的模型跟踪性能。基
于特征值配置的容错控制方法在文献[ 11 ] 中进行了讨
论。容错跟踪控制后飞控系统性能的下降程度在文献
[ 12 - 13 ]中进行了详细分析。多模型方法在飞控系统
的容错控制中也得到了很好的应用[ 14 - 16 ] , 相对于单模
型跟踪, 多模型方法可以提供更大的设计自由度, 首先
航空航天大学,2007.
[ 20 ] Ye D , Yang G H. Adaptive fault2tolerant t racking cont rol a2
能) 在文献[ 34 ] 中进行了详细分析。文献[ 35 ] 用
Markov 模型对故障过程建模, 运用“覆盖”( coverage)
的概念分析了系统的可容错性。文献[ 36 ] 提出了基于
非线性动态逆的容错控制方法。
。文献[27 - 29 ]运用
神经网络进行在线识别以保证容错控制器的设计, 文献
[ 28 ] Weerdt E de , Chu Q P , Mulder J A. Neural network aerody2
namic model identification for aerospace reconfiguration [ C] ∥
Proc. of A IA A Gui dance , N avi gation , and Cont rol Conf er2
In the actuator/control surface failure on the basis of the parameters of the model for the actuator/control surface stuck actuator faults and defects, respectively, and the defect is designed stuck fault vector under the control of the parameters fixed adaptive law, and the form of a theorem gives the closed-loop characteristics of the restored system.
For no fault plane is designed based on backstepping (Backstepping) speed, slip angle tracking control law to ensure trouble-free tracking performance of aircraft; Backstepping design for the virtual control law on the differential control law due to the complexity of the issue, derived dynamic surface (Dynamic surface) Adaptive backstepping speed, slip angle tracking control law, and strict proof is given;
体方法有很大不同。
在文献[ 32 - 33 ] 中, 非线性飞控系统首先被化为
严格反馈控制型, 然后将观测器和回步设计相结合, 针
对舵面卡死故障设计容错控制律。容错系统的性能分
析( 在[ 0 , tF ] , [ tF , tD ] , [ tD , tR ] , [ tR , ∞) 各时间段的性
Diagnosis
Self-healing control
Efficiency loss matrix
Differential compensation matrix
Repair control vector
Actuator / control surface
Adaptive control
Thought for the adaptive control based on adaptive control law can not be repaired to ensure fault parameters converge to the true value of the inadequate use of the actuator/control surface parameter model, a fault line identification model parameters, according to estimates of fault parameters and the basic control law structure of active self-healing control of vector control since the restoration program. Since the program's control law, while failure occurs in almost immediate effect, to place the actuator failure or damage the aircraft's self-healing process and the transition from conventional rehabilitation program compared with control steadily and rapidly. Fault parameters and can provide real value for the failure to provide useful information when found.
design using on2line neural estimator [ C] ∥Proc. of the 2002
I nternat ional J oint Conf . on Neural Networks , Honol uluo,
US A , 2002 : 559 - 564.
重构跟踪控制中。文献[19 ]将故障后的重构转化为扰动抑
制问题,并在直升机系统上进行了实验。考虑到飞控系统
的某些状态不可测,基于观测器的容错控制方法也得到了
深入研究[21 - 23 ] ,主要思想是用故障诊断观测器同时估计出
状态和故障的值,并将估计值用于容错控制器的设计。文
献[24 ]利用多模型自适应方法和滑模设计思想, 有效地识
设定多个不同状态的模型及其控制器, 依据转换标准判
断当前飞机状态与哪一个模型最接近并转换到相应控
制器上, 实现故障系统的控制重构
线性二次型调节作为有力的线性系统分析工具也被运
用在飞控系统中。大部分相关方法都属于被动容错控制的
范畴,如文献[9 ] 。而文献[17 ]利用线性二次型优化理论提