复杂飞行器鲁棒容错控制技术研究
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摘要
目前，随着科学技术快速发展与进步，飞行器变得越来越复杂，人们对复杂飞行器的安全性、可靠性及可维护性要求越来越高。为了大量的减少灾难性事故发生、减少社会经济损失以及保障人民的生命安全，飞行控制系统的主动容错控制技术为解决复杂飞行器飞行安全问题提供了一条选择之路。在过去的几十年里，复杂控制系统的故障诊断与容错控制技术得到了长足发展，尤其最近十几年，伴随着计算机网络技术、模式识别、机器学习和各种先进控制算法的快速发展，许多新方法和新技术被引入到该研究领域中，大大丰富了飞行控制系统主动容错控制技术的研究内容。
目前美、俄、法、英、日等航空航天强国对各种复杂飞行器的研究投入了大量的人力和物力，并已取得了大量的研究成果，有些关键性技术已进入工程化验证阶段。我国作为一个世界性大国，应该加大力度发展以之相关的各项关键性技术，以便进行技术储备。本研究主要是在基于前人已有的研究基础上，针对固定翼飞行器和多旋翼飞行器，进一步研究主动鲁棒容错控制技术。本文研究内容主要分为如下五部分：
第一：针对近空间飞行器姿态控制系统，基于神经网络技术和指令滤波反演方法，提出一种鲁棒容错控制方法，首先给出近空间飞行器姿态控制系统的数学模型，并在此基础上考虑建模误差引起的不确定和外部干扰，及操纵面故障下NSV姿态控制系统的状态方程。主要的设计涉及两个单元，一个是辅助系统的设计，一个是基于辅助系统的控制器的设计。辅助系统引入神经网络确保辅助系统的鲁棒性。并且通过Lyapunov定理严格证明闭环系统的稳定性。最后在近空间飞行器姿态控制系统上进行Matlab仿真验证，仿真结果显示所提的方法可以使得具有外部干扰的不确定飞控系统在操纵面损伤下具有理想的容错跟踪性能。
第二：针对近空间飞行器姿态控制系统，并考虑飞行器的操纵面偏转的位置饱和和速率约束。基于动态控制分配方法，提出在发生操纵面卡死和损伤故障情况下的控制重新分配方法。其中伪控制器的设计采用动态逆控制，整体容错控制架构仍然采用第二章所提的框架。首先给出系统建模误差引起的不确定和外部干扰，及操纵面卡死和损伤故障下的NSV姿态控制系统角速率控制回路的数学模型。分别设计操纵面卡死故障诊断器和一个自适应滑模观测器，并将隐含的故障和干扰信息反馈给伪控制器和动态控制分配算法，以实现操纵面卡死和损伤故障下的容错控制。最后在近空间飞行器姿态控制系统上进行Matlab仿真验证，仿真结果显示所提的方法的有效性。
第三：针对近空间飞行器姿态控制系统，考虑作动器控制回路动态，基于分散式容错控制框架，设计飞控系统的作动器的损伤和卡死故障检测和辨识单元，和基于观测器的辅助系统单元，该辅助系统用来将操纵面损伤故障和干扰隐含进去。设计一个可重构容错控制器的用来实现飞行控制系统的容错控制。首先给出系统在作动器卡死，损伤，和操纵面损伤故障下的NSV姿态控制系统。其次设计一种多观测器的作动器回路故障检测和辨识单元，利用一种决策机制判断当前所发生的确切作动器故障形式。接着基于自适应滑模观测器隐含操纵面损伤故障和干扰信息，所得到个故障和隐含信息实时反馈给可重构控制器以实现各种类型故障下的容错控制。并且通过Lyapunov定理严格证明闭环系统的稳定性。最后在近空间飞行器姿态控制系统上进行Matlab仿真验证，仿真结果显示所提的方法的有效性。
第四：针对非仿射非线性飞行控制系统，提出一种非仿射非线性鲁棒容错控制方法。该方法利用第二章所提的容错控制框架，并在此基础上，首先基于观测器技术设计一种将参数信息和干扰信息隐含其中的辅助系统设计控制器，其次给出一种非仿射非线性可重构控制器设计方法，实现非仿射非线性系统的鲁棒自适应容错控制。理论分析和仿真结果均显示所提方法的有效性。
第五：主要针对第二章所提的容错控制框架，利用第三章所提的自适应滑模观测器，设计基于自适应滑模观测器的指令滤波鲁棒反演容错控制。并进一步将该算法应用在3-DOF Hover平台上，验证该框架下所设计算法的实际应用价值。
At present, with the rapid development and progress of the society, the scale of the complexcontrol system becomes larger and larger; the demands for the safety, reliability and maintainability ofthese complex control systems are increasing. In order to reduce the number of catastrophic accidents,reduce the environment pollution, reduce the losses of social economic assets and protect the lives ofthe people, the technology about fault diagnosis and fault tolerant control of complex control systemsprovides an alternative road for solving the problems described above. In the past few decades, thetechnology about fault diagnosis and fault-tolerant control of the complex control system has madeconsiderable progress. Especially in the past ten years, along with the quick development of thecomputer network, pattern recognition, machine learning and all kinds of advanced control algorithms,many new methods and technologies are introduced into the fields of fault diagnosis and fault tolerantcontrol, which greatly enrich the research contents of fault diagnosis and fault-tolerant controltechnology.
Currently, United States, Russia, France, United Kingdom, Japan and other aerospace powercountries have put a lot of manpower and material resources for developing the flight technology ofncomplex vehicles, they have achieved lots of research results, even some key technologies haveentered the engineering verification phase. China, as a world power country, should vigorouslydevelop the relational key technologies for technical reserves. Based on the existing research results,this study is further investigating the technology about active robust fault tolerant control forfixed-wing aircraft and multi-rotor vehicles. This research is divided into the following five sections:
First: For near space vehicl attitude control system, based on neural network and commandfiltered backstepping techniques, a robust fault-tolerant control method is proposed, first, near spacevehicle attitude control system mathematical model is given, on this basis, the state equation of NSVattitude control system under the modeling errors caused by uncertainty, external disturbances andcontrol surfaces faults is considered. The fault tolerant control design involves two main units, one isauxiliary system design, the other is controller design using the auxiliary system. The neural networkis used to ensure robustness for auxiliary system. And the stability of the closed-loop system isrigorously proved by Lyapunov theorem. Finally, in the Matlab simulation of NSV attitude controlsystem, the simulation results show that the proposed method can make the tracking performance forflight control system with uncertain and external disturbances under control surface damage.
Second: For the near space vehicle attitude control system, and to consider the flight control surface deflection position and velocity saturation constraints, based on the dynamic control allocationmethod, a control reallocation method is proposed under control surfaces stuck and damage faults.The pseudo-controller is designed using dynamic inversion method. The overall fault-tolerant controlarchitecture is still mentioned in the framework of the second chapter. First, we give the attitudemodel, which is caused by modeling errors; external disturbances; the control surfaces stuck anddamage faults. And an adaptive sliding mode observer is designed, which implicits faults anddisturbances information. In order to achieve fault tolerant control, the pseudo-dynamic controller andcontrol allocation can be accommodated using above information. Finally, Matlab simulation resultsshow the effectiveness of the proposed method for NSV attitude control system.
Third: For near space vehicl attitude control system, considering the actuator control loopdynamics, based on decentralized fault-tolerant control framework, actuators damage and stuck faultdetection and identification unit is designed for the flight control system, and observer-based auxiliarysystem unit is also designed. The auxiliary system implicits control surface damage faults anddisturbances information. A reconfigurable fault-tolerant controller is used to achieve fault-tolerant.First, we give the NSV attitude control system under actuator stuck, lose of effectiveness, and controlsurface damages faults. Second, a multi-observer is designed for actuator fault detection andidentification using a decision-making mechanism to determine current actuator failure modes. Then,an adaptive sliding mode observer is designed for implicit control surface damages and interferenceinformation. The reconfigurable controller can achieve fault tolerant using the information of actuatorFDI unit and adaptive sliding mode observer. And the stability of the closed-loop system is rigorouslyproved by Lyapunov theorem. Finally, Matlab simulation results show the effectiveness of theproposed method for NSV attitude control system.
Fourth: For non-affine nonlinear flight control systems, a nonaffine nonlinear robust FTCmethod is proposed. Here, the fault tolerance control framework of Chapter II is used, and on thisbasis, observer-based auxiliary system is designed to implicit fault parameteres and disturbancesinformation. Then reconfigurable controller is designed using the dynamic of observer-based auxiliarysystem, which can chieve nonaffine nonlinear systems robust adaptive fault-tolerant. Theoreticalanalysis and simulation results show the effectiveness of the proposed method.
Fifth: Based on proposed fault tolerant control framework of second chapter and proposedadaptive sliding mode observer of the third chapter, a fault-tolerant command filtered backstepping isdesigned. And further application of the algorithm in the3-DOF Hover platform, verify theframework design algorithm practical application value.
目前美、俄、法、英、日等航空航天强国对各种复杂飞行器的研究投入了大量的人力和物力，并已取得了大量的研究成果，有些关键性技术已进入工程化验证阶段。我国作为一个世界性大国，应该加大力度发展以之相关的各项关键性技术，以便进行技术储备。本研究主要是在基于前人已有的研究基础上，针对固定翼飞行器和多旋翼飞行器，进一步研究主动鲁棒容错控制技术。本文研究内容主要分为如下五部分：
第一：针对近空间飞行器姿态控制系统，基于神经网络技术和指令滤波反演方法，提出一种鲁棒容错控制方法，首先给出近空间飞行器姿态控制系统的数学模型，并在此基础上考虑建模误差引起的不确定和外部干扰，及操纵面故障下NSV姿态控制系统的状态方程。主要的设计涉及两个单元，一个是辅助系统的设计，一个是基于辅助系统的控制器的设计。辅助系统引入神经网络确保辅助系统的鲁棒性。并且通过Lyapunov定理严格证明闭环系统的稳定性。最后在近空间飞行器姿态控制系统上进行Matlab仿真验证，仿真结果显示所提的方法可以使得具有外部干扰的不确定飞控系统在操纵面损伤下具有理想的容错跟踪性能。
第二：针对近空间飞行器姿态控制系统，并考虑飞行器的操纵面偏转的位置饱和和速率约束。基于动态控制分配方法，提出在发生操纵面卡死和损伤故障情况下的控制重新分配方法。其中伪控制器的设计采用动态逆控制，整体容错控制架构仍然采用第二章所提的框架。首先给出系统建模误差引起的不确定和外部干扰，及操纵面卡死和损伤故障下的NSV姿态控制系统角速率控制回路的数学模型。分别设计操纵面卡死故障诊断器和一个自适应滑模观测器，并将隐含的故障和干扰信息反馈给伪控制器和动态控制分配算法，以实现操纵面卡死和损伤故障下的容错控制。最后在近空间飞行器姿态控制系统上进行Matlab仿真验证，仿真结果显示所提的方法的有效性。
第三：针对近空间飞行器姿态控制系统，考虑作动器控制回路动态，基于分散式容错控制框架，设计飞控系统的作动器的损伤和卡死故障检测和辨识单元，和基于观测器的辅助系统单元，该辅助系统用来将操纵面损伤故障和干扰隐含进去。设计一个可重构容错控制器的用来实现飞行控制系统的容错控制。首先给出系统在作动器卡死，损伤，和操纵面损伤故障下的NSV姿态控制系统。其次设计一种多观测器的作动器回路故障检测和辨识单元，利用一种决策机制判断当前所发生的确切作动器故障形式。接着基于自适应滑模观测器隐含操纵面损伤故障和干扰信息，所得到个故障和隐含信息实时反馈给可重构控制器以实现各种类型故障下的容错控制。并且通过Lyapunov定理严格证明闭环系统的稳定性。最后在近空间飞行器姿态控制系统上进行Matlab仿真验证，仿真结果显示所提的方法的有效性。
第四：针对非仿射非线性飞行控制系统，提出一种非仿射非线性鲁棒容错控制方法。该方法利用第二章所提的容错控制框架，并在此基础上，首先基于观测器技术设计一种将参数信息和干扰信息隐含其中的辅助系统设计控制器，其次给出一种非仿射非线性可重构控制器设计方法，实现非仿射非线性系统的鲁棒自适应容错控制。理论分析和仿真结果均显示所提方法的有效性。
第五：主要针对第二章所提的容错控制框架，利用第三章所提的自适应滑模观测器，设计基于自适应滑模观测器的指令滤波鲁棒反演容错控制。并进一步将该算法应用在3-DOF Hover平台上，验证该框架下所设计算法的实际应用价值。
At present, with the rapid development and progress of the society, the scale of the complexcontrol system becomes larger and larger; the demands for the safety, reliability and maintainability ofthese complex control systems are increasing. In order to reduce the number of catastrophic accidents,reduce the environment pollution, reduce the losses of social economic assets and protect the lives ofthe people, the technology about fault diagnosis and fault tolerant control of complex control systemsprovides an alternative road for solving the problems described above. In the past few decades, thetechnology about fault diagnosis and fault-tolerant control of the complex control system has madeconsiderable progress. Especially in the past ten years, along with the quick development of thecomputer network, pattern recognition, machine learning and all kinds of advanced control algorithms,many new methods and technologies are introduced into the fields of fault diagnosis and fault tolerantcontrol, which greatly enrich the research contents of fault diagnosis and fault-tolerant controltechnology.
Currently, United States, Russia, France, United Kingdom, Japan and other aerospace powercountries have put a lot of manpower and material resources for developing the flight technology ofncomplex vehicles, they have achieved lots of research results, even some key technologies haveentered the engineering verification phase. China, as a world power country, should vigorouslydevelop the relational key technologies for technical reserves. Based on the existing research results,this study is further investigating the technology about active robust fault tolerant control forfixed-wing aircraft and multi-rotor vehicles. This research is divided into the following five sections:
First: For near space vehicl attitude control system, based on neural network and commandfiltered backstepping techniques, a robust fault-tolerant control method is proposed, first, near spacevehicle attitude control system mathematical model is given, on this basis, the state equation of NSVattitude control system under the modeling errors caused by uncertainty, external disturbances andcontrol surfaces faults is considered. The fault tolerant control design involves two main units, one isauxiliary system design, the other is controller design using the auxiliary system. The neural networkis used to ensure robustness for auxiliary system. And the stability of the closed-loop system isrigorously proved by Lyapunov theorem. Finally, in the Matlab simulation of NSV attitude controlsystem, the simulation results show that the proposed method can make the tracking performance forflight control system with uncertain and external disturbances under control surface damage.
Second: For the near space vehicle attitude control system, and to consider the flight control surface deflection position and velocity saturation constraints, based on the dynamic control allocationmethod, a control reallocation method is proposed under control surfaces stuck and damage faults.The pseudo-controller is designed using dynamic inversion method. The overall fault-tolerant controlarchitecture is still mentioned in the framework of the second chapter. First, we give the attitudemodel, which is caused by modeling errors; external disturbances; the control surfaces stuck anddamage faults. And an adaptive sliding mode observer is designed, which implicits faults anddisturbances information. In order to achieve fault tolerant control, the pseudo-dynamic controller andcontrol allocation can be accommodated using above information. Finally, Matlab simulation resultsshow the effectiveness of the proposed method for NSV attitude control system.
Third: For near space vehicl attitude control system, considering the actuator control loopdynamics, based on decentralized fault-tolerant control framework, actuators damage and stuck faultdetection and identification unit is designed for the flight control system, and observer-based auxiliarysystem unit is also designed. The auxiliary system implicits control surface damage faults anddisturbances information. A reconfigurable fault-tolerant controller is used to achieve fault-tolerant.First, we give the NSV attitude control system under actuator stuck, lose of effectiveness, and controlsurface damages faults. Second, a multi-observer is designed for actuator fault detection andidentification using a decision-making mechanism to determine current actuator failure modes. Then,an adaptive sliding mode observer is designed for implicit control surface damages and interferenceinformation. The reconfigurable controller can achieve fault tolerant using the information of actuatorFDI unit and adaptive sliding mode observer. And the stability of the closed-loop system is rigorouslyproved by Lyapunov theorem. Finally, Matlab simulation results show the effectiveness of theproposed method for NSV attitude control system.
Fourth: For non-affine nonlinear flight control systems, a nonaffine nonlinear robust FTCmethod is proposed. Here, the fault tolerance control framework of Chapter II is used, and on thisbasis, observer-based auxiliary system is designed to implicit fault parameteres and disturbancesinformation. Then reconfigurable controller is designed using the dynamic of observer-based auxiliarysystem, which can chieve nonaffine nonlinear systems robust adaptive fault-tolerant. Theoreticalanalysis and simulation results show the effectiveness of the proposed method.
Fifth: Based on proposed fault tolerant control framework of second chapter and proposedadaptive sliding mode observer of the third chapter, a fault-tolerant command filtered backstepping isdesigned. And further application of the algorithm in the3-DOF Hover platform, verify theframework design algorithm practical application value.
引文
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