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首页> 外文会议>2016 3rd Conference on Control and Fault-Tolerant Systems >Maturation and in-flight testing of H fault detection and accommodation for a model-scale autonomous aircraft
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Maturation and in-flight testing of H fault detection and accommodation for a model-scale autonomous aircraft

机译：模型规模自动飞机的H故障检测和适应的成熟度和飞行中测试

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This paper describes the maturation and in-flight testing of a recently developed fault detection (FD) system for a model scale unmanned aerial vehicle (UAV). The FD system design methodology is based on H techniques and exploits an LFT description of the aircraft (A/C) longitudinal dynamics. The maturation of the FD system, presented in the paper, introduces a fault isolation logic to distinguish between bias and stuck-in-place faults in the elevator, and a fault accommodation strategy to recover the nominal operation of the controller, thus attaining fault detection and isolation (FDI) and fault tolerant control (FTC). An overview of the experimental setup of the FDI/FTC system is described, presenting the high-fidelity Functional Engineering Simulator (FES) development environment, the UAV platform, and the flight test plan definition. Results are presented for the FDI/FTC system tested in real-time and onboard the UAV, for typical maneuvers of climbing/descent, turning, cruising and waypoint following, covering the expected flight envelope. Extension of the system for a planetary exploration glider is also briefly discussed.
机译：本文描述了模型尺寸无人飞行器（UAV）的最新开发的故障检测（FD）系统的成熟度和飞行中测试。 FD系统设计方法基于H技术，并利用了飞机纵向（A / C）动态描述。本文介绍的FD系统的成熟度引入了一种故障隔离逻辑以区分电梯中的偏置故障和卡在位置的故障，以及一种故障恢复策略以恢复控制器的正常运行，从而实现故障检测隔离（FDI）和容错控制（FTC）。描述了FDI / FTC系统的实验设置的概述，介绍了高保真功能工程仿真器（FES）开发环境，UAV平台和飞行测试计划的定义。给出了FDI / FTC系统的实时测试结果，并在无人机上进行了测试，包括爬升/下降，转弯，巡航和航路跟踪的典型操作，涵盖了预期的飞行范围。还简要讨论了系统的扩展，适用于行星探测滑翔机。

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