吉林大学学报(工学版) ›› 2023, Vol. 53 ›› Issue (3): 841-852.doi: 10.13229/j.cnki.jdxbgxb20221249

• 通信与控制工程 • 上一篇    

四旋翼无人机寿命预测和自主维护方法

申富媛1,2(),李炜1,2(),蒋栋年1,2   

  1. 1.兰州理工大学 电气工程与信息工程学院，兰州 730050
    2.兰州理工大学 甘肃省工业过程先进控制重点实验室，兰州 730050
  • 收稿日期:2022-09-27 出版日期:2023-03-01 发布日期:2023-03-29
  • 通讯作者: 李炜 E-mail:shenfy@lut.edu.cn;liwei@lut.edu.cn
  • 作者简介:申富媛（1985-），女，博士研究生. 研究方向：动态系统故障诊断与容错控制，故障预测与健康评估.E-mail：shenfy@lut.edu.cn
  • 基金资助:
    国家自然科学基金项目(62063017)

Life prediction and self⁃maintenance method of quadrotor unmanned aerial vehicle

Fu-yuan SHEN1,2(),Wei LI1,2(),Dong-nian JIANG1,2   

  1. 1.College of Electrical and Information Engineering，Lanzhou University of Technology，Lanzhou 730050，China
    2.Key Laboratory of Gansu Advanced Control for Industrial Processes，Lanzhou University of Technology，Lanzhou 730050，China
  • Received:2022-09-27 Online:2023-03-01 Published:2023-03-29
  • Contact: Wei LI E-mail:shenfy@lut.edu.cn;liwei@lut.edu.cn

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摘要：

针对四旋翼无人机运行过程中执行器退化引起的剩余寿命缩短问题，提出一种基于风险评价函数的模型预测控制自主维护策略。首先，通过深入分析无人机控制机理构建了自主维护体系架构。其次，基于系统失效阈值的定义，得到悬停状态下无人机剩余寿命分布的解析解，并依据风险评价结果自适应修正模型预测权值矩阵 Q 和 R 中元素值实现自主维护，从而在无人机性能与寿命之间达到更好的折中平衡。最后，仿真实验结果表明，本文提出的自主维护策略，可使执行器隐含退化的无人机剩余寿命延长616 min，并保持较好的机体性能。

关键词: 控制理论与控制科学, 四旋翼无人机, 执行器退化, 剩余寿命预测, 模型预测控制, 在线自主维护

Abstract:

A model predictive control autonomous maintenance strategy based on risk evaluation function was proposed to address the remaining life shortening problem caused by actuator degradation during the operation of quadrotor unmanned aerial vehicle(UAV）. Firstly， the architecture of autonomous maintenance system was constructed through in-depth analysis of the control mechanism of the UAV. Secondly， based on the definition of the system failure threshold， the analytical solution of the remaining life distribution of the UAV under hovering condition was obtained， and the values of Q and R elements of the prediction weight matrix of the model were adaptively modified based on the risk evaluation results to realize autonomous maintenance， so as to achieve a better compromise between UAV performance and life. Finally， the simulation experiment results show that the proposed autonomous maintenance strategy can extend the remaining life of the UAV with implied actuator degradation by 616 min and maintain better airframe performance.

Key words: control theory and control science, quadrotor UAV, actuator degradation, residual life prediction, model predictive control, online self-mainte

中图分类号: 

  • TP273

图1

四旋翼无人机结构图"

图2

四旋翼无人机闭环系统框图"

图3

四旋翼无人机系统自主维护结构图"

图4

执行器退化过程示意图"

图5

风险评价函数Jrisk曲线"

图6

Δq、Δr随风险函数Jrisk调整示意图"

图7

基于运行风险评价的四旋翼无人机自主维护算法流程图"

图8

执行器退化测量值和估计值"

图9

估计误差与测量误差比较"

图10

执行器退化时四旋翼无人机响应曲线"

图11

四旋翼无人机剩余寿命分布"

图12

风险评价函数Jrisk变化曲线"

图13

Δq、Δr调整曲线"

图14

延寿控制Q、R调整曲线"

图15

四旋翼无人机延寿后剩余寿命分布"

表1

不同延寿策略下失效阈值和机体寿命"

方法失效阈值机体寿命
未延寿6.85931313
文献［25］6.95701914
本文7.56181929

表2

未延寿与不同延寿策略稳态性能（ess）比较"

方法预测时刻/min
1300150017001900
未延寿2.0946123.6915146.1453173.0268
文献［25］2.72012.99×10-42.22×10-56.5776
本文1.62761.95×10-43.57×10-70.3058
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