分级多模自适应滤波算法无人机控制系统故障诊断

摘要

The ordinary multimode adaptive filtering algorithm can only detect single fault. When it is used to detect dual and multiple faults, a number of filters are needed in computation. So it is a costly algorithm. A hierarchical multimode adaptive filtering algorithm is presented to detect dual and multiple faults of complex system. In this way, the computation cost and fault detection time is decreased largely. Simulation examples validate effectiveness.%应用标准的多模自适应滤波算法能够在较短时间内检测出控制系统的单一故障,但是当用于检测控制系统的双重和多重故障时,则需要建立所有可能出现的故障模型,而每一个模型都要对应一个卡尔曼滤波器,需要大量滤波器并行运算,大大增加了系统故障诊断时间,为了简化算法并减少计算时间,提出了一种用于复杂系统多重故障诊断的分级多重模型滤波算法,在确定某一单个故障发生后,则可以启用一组基于上一单个故障的新滤波器来检测系统的第二重故障,这样减少了并行运算的滤波器数量,从而减少计算量和故障诊断时间.将此算法应用于某无人机控制系统的双重故障的故障诊断,仿真结果验证了该方法的有效性.