考虑性能退化的航空发动机故障诊断量化评估

航空发动机全生命周期内的故障诊断一直是研究的热点,为保障航空发动机在性能退化条件下故障诊断算法的可靠性,对考虑性能退化的航空发动机进行故障可诊断性量化评估有着重要的意义。本文从状态量的可测量性以及最优观测器设计两个方面对退化状态下航空发动机的滑动窗口模型进行解耦处理。从故障可检测及可隔离两个方面对故障的可诊断性进行量化评估,以巴氏距离为量化标准,将量化评估问题转换为多元分布概率距离求解问题。同时,从故障空间的角度对故障可隔离性进行定义,剥离了参考故障模式的影响,将可隔离性转化为故障空间中故障模式的固有属性,并给出航空发动机故障可检测及可隔离的判据。仿真实验证明,本文所提出的方法可以在发动机性能退化条件下对控制系统传感器、执行机构故障以及发动机气路部件故障进行可诊断性量化评估。     

基于布谷鸟搜索算法的一类变体飞行器容错控制

针对一类存在执行机构故障的分布式结构变体飞行器的控制分配问题,结合整数规划理论,提出一种基于布谷鸟搜索算法的容错控制方法。首先,设计虚拟控制指令,使得系统状态能够很好地跟踪参考模型;然后,将执行器概率性故障与饱和约束转换为整数规划问题中决策变量的约束,从而将执行器控制分配问题转化为一类整数规划问题;最后,采用改进的布谷鸟搜索算法进行求解,得到实际的执行器控制分配指令。仿真结果表明,在执行器存在概率性故障的情况下,该容错控制方法较无容错策略的情况能够有效提升系统的跟踪性能;与遗传算法相比,该算法得到的执行器控制分配结果更加精确。     

Fault Detection and Diagnosis of Aircraft Actuators using Fuzzy-Tuning IMM Filter

This paper proposes a new interacting multiple model (IMM) filter for actuator fault detection. Since each individual filter of the IMM filter uses the combined information of the estimation values from all the operating filters, it can effectively estimate system parameter variations, thereby it can diagnose the actuator damage with an unknown magnitude. In this study, to diagnose the actuator failure fast and accurately, fuzzy logic is used to tune a transition probability among multiple models. This makes the fault detection process smooth and reduces the possibility of false fault detection. Also, a discrete fault tolerant command tracker is derived to cope with actuator damages. To validate the performance of the proposed fault detection and diagnosis (FDD) algorithm, numerical simulations are performed for a high performance aircraft system.     

MIMO变结构飞行重构控制系统设计

基于滑模变结构控制,提出一种MIMO(multiple input multiple output)的飞行重构控制系统的频域设计方法.将滑模变结构控制与飞行重构控制相结合,解决了飞行重构控制技术中故障检测和系统参数辨识的问题.引入渐近观测器和hedge模型增加重构控制系统对衍生未建模动态的鲁棒性;引入作动器模型、输出饱和限制和驾驶员模型,使变结构重构控制系统设计方法变得更为有效和实用;以某型飞机的横航向飞行控制系统为例,进行设计模拟.结果表明:在飞机气动参数大幅突变和操纵面严重受损的情况下,飞机仍能保持良好的性能.      

航空发动机主供油计量活门故障主动容错控制器设计

针对航空发动机主供油计量活门执行机构发生故障时,系统的输出将会发生跳变,不能很好地跟踪系统期望输出的现象,采用模型参考自适应方法设计了主动容错控制器来解决这一问题.首先针对执行机构故障问题进行了数学描述.其次,选取系统的标称模型为参考模型,以输出误差最小化为优化目标,基于李雅普诺夫稳定性原理,寻找合适的自适应调节律,设计了自适应容错控制器.最后,针对发动机某一工况点进行了不同故障情况下的数值仿真.仿真结果表明:在主供油计量活门发生跳变故障和卡死故障时,自适应容错控制器可以通过参数自动调节,使得系统的输出能够很好地跟踪模型的输出,跟踪误差最终逼近于零.      

Real-time parameter identification applied to flight simulation

In-flight simulations are normally accomplished using model-following control laws which depend on accurate knowledge of the stability derivatives of the host aircraft. Degraded simulation results if the stability derivatives deviate considerably from their presumed values. Gain scheduling is often used to compensate for plant parameter variations, but this form of open-loop compensation usually requires extensive flight testing for proper fine tuning. An adaptive, fast-sampling control law to compensate for changing aircraft parameters is described. The step-response matrix required for implementation is identified recursively using a technique which does not need special test signals, and which automatically discounts old data depending on the input excitation detected. Tracking fidelity is maintained despite parameter changes which occur abruptly or slowly, and actuator position and rate limiting are discussed. The performance of the resulting system is excellent and demonstrates the relative advantages of adaptive controllers for in-flight simulation     

考虑执行机构饱和的迎角跟踪控制

设计提出了 1种针对高光谱图像分类任务的 3D-MSCNN模型。在 PCA降维的基础上,利用 3D空谱特征提取网络和 2D多尺度特征提取网络实现高光谱图像特征提取,充分发挥高光谱图像空谱信息价值,增强对不同尺度地表覆盖的表达能力。最后,利用 Softmax分类损失函数实现高光谱图像分类任务。实验结果表明,本文算法在 In. dian Pines和 Pavia University数据集上都取得了较好的分类效果。与 CD-CNN、3D-CNN、SS-Net和 HybirdSN等方法相比,本文算法能够有效提升总体精度、平均精度和 Kappa系数等客观评价指标。     

基于未知输入观测器的非线性动态系统故障估计

针对一类受扰非线性动态系统的执行器故障估计问题,提出一种未知输入观测器来实现故障估计。首先,通过坐标变换将原系统转化为合适的形式;其次,采用线性矩阵不等式与Lyapunov泛函分别设计H_∞输出反馈控制器和未知输入观测器,在此基础上实现对系统中执行器故障的渐近估计;最后,通过机械臂系统仿真分析并验证了所提方法的有效性。与已有方法相比,所提方法不要求故障可导,也不要求故障或干扰上界已知,因此易于在工程实际中实现对非线性系统执行器故障的估计。     

Integrated active fault-tolerant control using IMM approach

An integrated fault detection, diagnosis, and reconfigurable control scheme based on interacting multiple model (IMM) approach is proposed. Fault detection and diagnosis (FDD) is carried out using an IMM estimator. An eigenstructure assignment (EA) technique is used for reconfigurable feedback control law design. To achieve steady-state tracking, reconfigurable feedforward controllers are also synthesized using input weighting approach. The developed scheme can deal with not only actuator and sensor faults, but also failures in, system components. To achieve fast and reliable fault detection, diagnosis, and controller reconfiguration, new fault diagnosis and controller reconfiguration mechanisms have been developed by a suitable combination of the information provided by the mode probabilities from the IMM algorithm and an index related to the closed-loop system performance. The proposed approach is evaluated using an aircraft example, and excellent results have been obtained     

Robust adaptive fault-tolerant control of a tandem coaxial ducted fan aircraft with actuator saturation

This paper is concerned with the robust adaptive fault-tolerant control of a tandem coaxial ducted fan aircraft under system uncertainty, mismatched disturbance, and actuator saturation. For the proposed aircraft, comprehensive controllability analysis is performed to evaluate the controllability of each state as well as the margin to reject mismatched disturbance without any knowledge of the controller. Mismatched disturbance attenuation is ensured through a structured H-infinity controller tuned by a non-smooth optimization algorithm. Embedded with the H-infinity controller, an adaptive control law is proposed in order to mitigate matched system uncertainty and actuator fault. Input saturation is also considered by the modified reference model. Numerical simulation of the novel ducted fan aircraft is provided to illustrate the effectiveness of the proposed method. The simulation results reveal that the proposed adaptive controller achieves better transient response and more robust performance than classic Model Reference Adaptive Control (MRAC) method, even with serious actuator saturation.     

多操纵面飞机舵面损伤的快速故障诊断

针对多操纵面飞机舵面损伤的快速故障诊断问题,提出一种直接估计舵面偏转量的自适应补偿观测器方法。首先,设计了增广观测器进行系统输入估计,并提出了自适应补偿方法解决其动态跟踪性能差的问题;其次,设计了一种新的自适应阈值以快速检测故障并降低虚警率;最后,利用舵面故障特点,采用重置初值的限定记忆最小二乘方法实现了对突变参数的实时估计,用以进行故障隔离。仿真结果表明:在不同的舵面损伤故障情况下,所提出的观测器方法能在20 ms内发出故障预警,并在0.22 s内确定故障位置,所采用的辨识方法可以在故障报警后的0.2 s内准确估计出损伤程度。     

Active fault tolerant control for vertical tail damaged aircraft with dissimilar redundant actuation system

This paper proposes an active fault-tolerant control strategy for an aircraft with dissim-ilar redundant actuation system (DRAS) that has suffered from vertical tail damage. A damage degree coefficient based on the effective vertical tail area is introduced to parameterize the damaged flight dynamic model. The nonlinear relationship between the damage degree coefficient and the corresponding stability derivatives is considered. Furthermore, the performance degradation of new input channel with electro-hydrostatic actuator (EHA) is also taken into account in the dam-aged flight dynamic model. Based on the accurate damaged flight dynamic model, a composite method of linear quadratic regulator (LQR) integrating model reference adaptive control (MRAC) is proposed to reconfigure the fault-tolerant control law. The numerical simulation results validate the effectiveness of the proposed fault-tolerant control strategy with accurate flight dynamic model. The results also indicate that aircraft with DRAS has better fault-tolerant control ability than the traditional ones when the vertical tail suffers from serious damage.     

基于NN-ELM的航空发动机燃油系统执行机构故障诊断

提出了一种航空发动机执行机构及其传感器单一故障诊断及定位方法.首先通过执行机构模型判断是否发生故障,然后运用发动机逆模型对故障进行定位.基于离线训练BP(back propagation)神经网络建立执行机构模型,根据某半物理仿真试验台的测试数据训练网络参数.提出离线训练和在线训练相结合的极端学习机(ELM)算法建立发动机逆模型,使网络在初始时刻就具有诊断能力,工作过程中具有适应能力,且在线训练过程采用阈值判别法筛选训练样本,减小了在线训练时间,提高了逆模型的实时性.以某型发动机燃油系统执行机构为例的设计和仿真结果表明:该诊断系统能够准确地对发动机在稳态和动态工况以及蜕化状态下的执行机构及其传感器单一故障进行准确诊断和定位,具有很好的实时性.      

Induction motor servo drive with adaptive rotor time-constantestimation

An indirect filed-oriented induction motor (IM) position servo drive with adaptive rotor time-constant estimation and an on-line trained neural network controller is presented. First, the rotor time-constant is estimated real-time on the basis of the model reference adaptive system (MRAS) theory. Next, a linear model-following controller (LMFC) is designed according to the estimated plant model to allow the state responses of the plant to follow the reference model. Then an augmented signal generated from the proposed neural network controller, whose connective weights are trained on-line according to the model-following error of the states, is added to the LMFC system to preserve a favorable model-following characteristic under various operating conditions     

Closed-loop dynamic control allocation for aircraft with multiple actuators

A closed-loop control allocation method is proposed for a class of aircraft with multiple actuators. Nonlinear dynamic inversion is used to design the baseline attitude controller and derive the desired moment increment. And a feedback loop for the moment increment produced by the deflections of actuators is added to the angular rate loop, then the error between the desired and actual moment increment is the input of the dynamic control allocation. Subsequently, the stability of the closed-loop dynamic control allocation system is analyzed in detail. Especially, the closedloop system stability is also analyzed in the presence of two types of actuator failures: loss of effectiveness and lock-in-place actuator failures, where a fault detection subsystem to identify the actuator failures is absent. Finally, the proposed method is applied to a canard rotor/wing (CRW) aircraft model in fixed-wing mode, which has multiple actuators for flight control. The nonlinear simulation demonstrates that this method can guarantee the stability and tracking performance whether the actuators are healthy or fail.     

基于GSPN的机载液压作动系统可靠性模型

机载液压系统具有余度降级、故障检测、隔离等动态时序过程,传统基于两元可靠性模型很难描述其动态行为和性能降级过程.针对这一问题,采用分层聚类和广义随机Petri网相结合建立了机载液压系统可靠性模型.利用该模型,详细分析了故障检测装置的故障检测率对系统可靠性的影响.分析结果表明,由于故障检测装置故障检测率的影响,机载液压作...     

Anti-disturbance attitude control of combined spacecraft with enhanced control allocation scheme

In this paper, we propose a novel anti-disturbance attitude control law for combined spacecraft with an improved closed-loop control allocation scheme. More specifically, a saturated approach is adopted to guarantee the global asymptotic stability under control input saturation. To enhance the robustness of the system, a nonlinear disturbance observer is constructed to compensate the disturbances caused by inertial parameter uncertainty and unmodeled dynamics. Next, the quadratic programming algorithm is used to obtain an optimal open-loop control allocation scheme, where both energy consumption and actuator saturation have been considered in the allocation of the virtual control command. Then, a modified closed-loop control allocation scheme is proposed to reduce the allocation error under the actuator uncertainty. Finally, stability analysis of the closed-loop system with the proposed allocation scheme is provided. Simulation results confirm the effectiveness of the proposed control scheme.     

过驱动飞行器积分滑模容错控制方法

针对过驱动飞行控制系统中执行器故障时的协调分配问题,提出了一种基于积分滑模的容错飞行控制器设计方法.引入虚拟控制思想,构造了多执行器故障条件下飞行器层级结构控制的数学模型.运用小增益定理,推导了系统闭环稳定的充分条件,并基于线性矩阵不等式,建立了最优状态反馈的凸优化模型.以积分滑模面切换函数为变量,选取李雅普诺夫能量函数,设计了渐近稳定的积分滑模控制器.仿真结果表明,该方法可综合考虑执行器完好和故障时的控制效能,能够实现多操纵面容错飞行控制,具有较好的鲁棒性.     

航空发动机燃油系统执行机构故障诊断及验证

研究了基于执行机构模型以及发动机逆模型的发动机燃油系统执行机构及其传感器故障诊断方法.基于发动机半物理仿真试验台试验数据建立执行机构小闭环传递函数模型,通过二次多项式拟合将油针位置转换为燃油流量.提出基于自校正在线训练神经网络算法建立发动机逆模型,以离线训练网络参数初始化在线系统,基于阈值更新网络参数,并对学习速率进行自校正,以提高算法的泛化能力及收敛速度.对比执行机构模型输出、发动机逆模型输出与LVDT传感器测量位移换算得到的燃油流量,基于阈值判断故障状态.在T700涡轴发动机半物理仿真试验平台上进行试验,实现了在发动机额定及各种性能退化状态下,执行机构及其传感器漂移和偏置故障的准确诊断及定位,验证了算法的有效性.     

基于速度同步控制的电液负载模拟器

通过理论与试验相结合的方法建立了电液力伺服控制系统的精确非线性数学模型 ,从理论上对采用传统的结构不变性原理来消除多余力的方案进行了分析 ,找出了其效果有一定局限性的机理 ,说明电液力伺服系统的非线性和频率特性对电液负载模拟器的性能有较大的影响 ,进而提出了利用舵机伺服阀的控制信号进行速度同步控制、抑制多余力矩的新方案 ,消除了系统滞后的影响 ,另外 ,由于舵机与加载马达数学模型的相似性 ,对非线性起到了一定的补偿作用。仿真和试验结果证明该方案在系统的动态品质、鲁棒性和消扰能力等方面具有相当好的效果。