Uav Flight Control System Fault Detection Technique

Following the domestic and oversea research direction of the Fault Diagnosis (FD) technology, based on current FD methods and pre-research program of the high altitude and long endurance(HALE) unmanned aerial vehicle(UAV), FD technology on flight control system(FCS) of UAV is researched in the paper. Based on the modeling of the UAV and its FCS, the method of Parity Space and Unitary Linear Recursive Analysis is put forward to diagnose the fault on actuator, and the Kalman Filter is proposed to detect and diagnose the fault on control surface. The main content of the dissertation is summarized as follows:1. First of all, the conception and theory of hardware redundancy and analytical redundancy is expatiated. Based on researching of the current FD technology, Parity Space method is proposed to detect actuator and control surface fault.2. With the experiment data of HALE UAV in wind tunnel, the model of the UAV and its FCS (including actuators and sensors) is established in MATLAB/Simulink. Measurement noise, nonlinear degree, bias of zero point and the phasic move of output is considered here to ensure that the model is consistent with the actual sensor.3. Parity Space method is proposed to diagnose actuator fault such as locking, floating and bias. Residual is generated by comparing the actual output and model output of the actuator. Then a threshold is suitably chosen for Fault Detection depending on the static property of modeling-error and system, measurement noise. To obtain the information about fault style and fault degree, Unitary Linear Recursive Analysis is introduced in. Different parameter and filter is used in the estimation process depending on different dynamic property of the fault.4. Control surface fault such as jam, floating and damage is researched. Redundancy relation is obtained from the input and output data within a window of some width. Then, a threshold is set to detect control surface fault. But surface fault can't be isolated with normal Parity Space method, so control-channel decoupled Parity Space is proposed to compensate this defect. It can detect and isolate surface fault by designing three parity matrixes which sensitive to aileron, rudder and elevator...