包邮飞行控制系统的自愈合控制

第1 章 绪论 ················································································································ 1
1.1 自愈合控制的研究背景 ··························································································· 1
1.2 国内外研究现状 ······································································································· 2
1.3 *新研究成果 ·········································································································· 6
第2 章 基于观测器设计的双旋翼直升机故障诊断方法 ····················································· 9
2.1 引言 ····················································································································· 9
2.2 双旋翼直升机控制系统建模及半物理仿真平台 ·················································· 10
2.2.1 纵列式双旋翼直升机 ················································································· 10
2.2.2 双旋翼直升机半物理仿真平台·································································· 13
2.3 基于自适应观测器的多执行器卡死故障诊断 ······················································ 22
2.3.1 执行器卡死故障系统描述 ········································································· 22
2.3.2 鲁棒快速自适应故障估计方法·································································· 23
2.3.3 多模型故障诊断方法 ················································································· 26
2.3.4 仿真与分析 ································································································ 29
2.4 基于自适应滑模观测器的执行器时变故障诊断 ·················································· 34
2.4.1 系统描述 ···································································································· 35
2.4.2 基于自适应滑模观测器的故障诊断方法 ·················································· 36
2.4.3 仿真与分析 ································································································ 39
2.5 相对阶大于1 的非线性系统执行器故障诊断 ······················································ 44
2.5.1 微分几何基本知识 ····················································································· 44
2.5.2 三自由度双旋翼直升机非线性模型分析 ·················································· 45
2.5.3 基于构造辅助输出的执行器故障诊断 ······················································ 46
2.5.4 仿真分析 ···································································································· 50
2.6 本章小结 ················································································································ 53
第3 章 基于自适应控制的双旋翼直升机多故障自愈合控制 ··········································· 54
3.1 引言 ····················································································································· 54
3.2 三自由度双旋翼直升机改进模型 ········································································· 55
3.3 基于自适应控制的多故障自愈合控制器设计 ······················································ 58
3.4 仿真验证及结果分析 ····························································································· 60
3.5 本章小结 ················································································································ 63
第4 章 含有未知参数的四旋翼直升机多故障自愈合控制 ··············································· 64
4.1 引言 ··················································································································· 64
4.2 四旋翼直升机动力学模型 ····················································································· 66
4.3 联级控制系统基本控制器设计 ············································································· 67
4.4 针对执行器部分失效故障的滑模自愈合控制器设计 ·········································· 71
4.5 针对未知参数的自适应容错控制器设计 ······························································ 75
4.6 各控制器间的时间尺度分析 ················································································· 77
4.7 仿真验证及结果分析 ····························································································· 78
4.8 本章小结 ················································································································ 84
第5 章 基于前馈补偿和直接自适应的四旋翼直升机自愈合控制 ··································· 85
5.1 引言 ···················································································································· 85
5.2 四旋翼直升机控制系统与