شناسايي و تشخيص عيب در پرواز مشاركتي هواپيماي بدون سرنشين

چكيده انگليسي :

Fault Detection and Isolation in UAV Cooperative Flight Hamed Pourazad Date of Submission 21 01 2014 Department of Electrical and Computer Engineering Isfahan University of Technology Degree M Sc Language FarsiSupervisor J Askari j askari@cc iut ac ir S Hosseinia hoseinia@cc iut ac irAbstract Unmanned aerial vehicles UAV received a lot of attention in recent years consideringlatest advances in technology which boosted the possibility of vast military andcommercial applications for such aircrafts The possibility to build smaller and moreefficient UAVs improved research interest in this field One popular application in recentyears is cooperative flight i e flying of a team of UAVs In cooperative mission objectives and means can be assigned to multiple UAVs instead of one UAV and thusmakes mission designing possible in situations that one UAV cannot handle the wholemission Among the important issues in every UAV mission is trajectory generation This trajectoryshould be flyable first i e it should consider UAV s maneuver limits and second itshould not pass through obstacles In addition UAVs are prone to numerous uncertaintiesand faults during their flight course Of the most common aircraft faults are lock in placefault as an actuator fault and icing fault as a structural fault These faults share similarsymptoms that make their isolation difficult Moreover in the case of icing on the aircraftwings and control surfaces system states are subject to change and in extreme cases i e full icing UAV may even lose controllability which leads to crash Actions taken toprevent icing are generally costly heavy and require huge power consumption and are notimplementable on small aircrafts Therefore it seems crucial to design a method to preventcrash in case of an occurrence of icing fault In this thesis we discuss fault detection and isolation in UAVs cooperative flights For thismatter we first discuss trajectory generation using Pythagorean Hodograph PH algorithm This algorithm can be implemented easily and the designed route is flyable Inour thesis we present a new trajectory generation approach through which not only theroute is carried out with a suitable and suboptimal result but also it will reduce the designtime to less than a quarter comparing to regular methods Furthermore a controller isdesigned to track the route in normal and faulty situations The controller is robust and isdesigned based on H theorem using McFarlane Glover loop shaping algorithm Finallyusing one Unknown Input Observer UIO a fault detection and isolation scheme isproposed to detect icing faults Our proposed method enables the observer to be sensitiveagainst both structural faults and actuator faults and can isolate icing faults from lock in place Simulation results confirm the success of our design Finally the performance ofthis fault detection system is examined through a cooperative simultaneous arrival mission Keywords Unmanned Aerial Vehicle Trajectory Generation Fault Detection andIsolation Pythagorean Hodograph Robust Controller

پورآزاد، حامد

شناسايي و تشخيص عيب در پرواز مشاركتي هواپيماي بدون سرنشين

طراحي مسير , الگوريتمPH , كنترل كننده مقاوم , كنترل كننده ∞H , رويتگر ورودي نامعلوم