[1]齐俊桐,韩建达.旋翼飞行机器人故障诊断与容错控制技术综述[J].智能系统学报,2007,2(02):31-39.
 QI Jun-tong,HAN Jian-da.Fault diagnosis and faulttolerant control of rotorcraft flying robots: a survey[J].CAAI Transactions on Intelligent Systems,2007,2(02):31-39.
点击复制

旋翼飞行机器人故障诊断与容错控制技术综述(/HTML)
分享到:

《智能系统学报》[ISSN:1673-4785/CN:23-1538/TP]

卷:
第2卷
期数:
2007年02期
页码:
31-39
栏目:
出版日期:
2007-04-25

文章信息/Info

Title:
Fault diagnosis and faulttolerant control of rotorcraft flying robots: a survey
文章编号:
1673-4785(2007)02-0031-09
作者:
齐俊桐12韩建达1
1.中国科学院沈阳自动化研究所机器人学重点实验室,辽宁沈阳1 10016;
2.中国科学院研究生院,北京100049
Author(s):
QI Jun-tong12HAN Jian-da1
1.Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy of Sc iences, Shenyang 110016, China;
2.Graduate University of the Chinese Academy of Sciences, Beijing 100049, China
关键词:
旋翼飞行机器人故障检测故障诊断容错控制
Keywords:
rotorcraft flying robots fault detection fault diag nosis faulttolerant control
分类号:
TP302.8
文献标志码:
A
摘要:
对故障诊断和容错技术的发展过程进行了简要概述,以旋翼飞行机器人为研究对象,在分析了旋翼飞行机器人故障诊断与容错控制特点的基础上,介绍了当前国内外在该领域的研究进展和主要方法.最后,总结了该领域待解决的难点问题,并指出了该研究领域的发展趋势.
Abstract:
In this paper, a survey of fault detection and diagnosis (FDD) and fau lttolerant control (FTC) technology for rotorcraft flying robots (RFRs) is pre s ented. The present status of fault diagnosis and faulttolerant technology is i ntroduced based on analysis of some main features of this technology for RFRs. R esearch progress and significant approaches for FDD and FTC of RFRs are summariz ed. Finally, the main difficulties, challenges and future development in this re search field are presented.

参考文献/References:

[1】黄一敏. 直升飞机控制技术研究[D].南京:南京航空航天大学,1999.
HUANG Yimin. Research on helicopter technology of control [D]. Nanjing: Nanjin g University of Aeronautics and Astronautics, 1999.、[2]Office of the Secretary of Defense. Unmanned Aerial Roadmap 2002-202 7[R]. Washington, DC 20301: Office of the Secretary of Defense, 2002.
[3]周东华,孙优贤. 控制系统的故障检测与诊断技术 [M]. 北京:清华大学出版社,1994.
[4]周东华,叶银忠. 现代故障诊断与容错控制[M].北京:清华大学出版社,20 00.
[5]胡昌华,许化龙. 控制系统故障诊断与容错控制的分析和设计[M].北京:国防工业出版社,2002.
[6]NIEDERLINSKI A. A heuristic approach to the design of interacting mu ltivariable systems[J].Automatica,1971(7):691-701.
[7]SALJAK D. Reliable control using multiple control system[J].Int J Control,1980(31):303-329.
[8]PIERCE W. Failuretolerant computer design[M].New York:Academic Press,1965.
[9]郑应平. 控制科学面临的挑战:专家意见综述[J].控制理论与应用,1987, 4(3):1-10.
ZHENG Yingping. The challenge of the control technology: the summarize of the e x perts[J]. Control Theory and Application,1987,4(3):1-10.
[10]PATTON R. Robustness issues in fault tolerant control[A].Proc of International Conference on Fault Diagnosis[C].France,Toulouse,1993.
[11]PATTON R. Faulttolerant control: the 1997 situation[A].Proc of IFAC/IMACs symposium on Fault Detection and safety for Technical Process[C]. Hull,England,1997.
[12]BEARD R. Failure accommodation in linear systems through selfre organization[D].CAMBRIDGE:Man Vehicle Lab, MIT,1971.
[13]WILLSKY A. A survey of design methods for failure detection in dyna mic systems[J].Automatica,1976(12):601-611
[14]HMMELBLAU D. Fault detection and diagnosis in chemical and petroche mical process[M].Amsterdam:Elsevier Press,1978.
[15]GERTLER J J. Survey of model based failure detection and isolation in complex plants[J].IEEE Control Systems Magzine,1988,8(6):3-11.
[16]ISERNANN R. Process fault diagnosis of machines via parameter esti mation and knowledge processing: tutorial paper[J].Automatica,1993,29(4):81 5-835.
[17]FRANK P. Fault diagnosis in dynamic systems using analytical and knowledg ebased redundancy-a survey and some new results[J].Automatica,1990,26(3): 459-474.
[18]ISERNANN R. Fault diagnosis of machines via parameter estimation and know ledge processing: tutorial paper[J].Automatica,1993,29(4):815-835.
[19]BASSEVILLE M. Detection of abrupt changes in signal and dynamic systems[ M].New York:Prentice Hall,1989.
[20]PATTON R. Fault diagnosis in dynamic systems[M].New York:Prentice Hall ,1989.
[21]ZHANG X. Auxiliary signal design in fault detection and diagnosis[M].Be rlin:SpringerVerlag,1991.
[22]刘 伟. 高生存力飞行控制系统的研究[D].西安:西北工业大学,2003.
LIU Wei. Research on high survival ability flight control system[D].Xi’an:Nor thwestern Polytechnical University, 2003.
[23]NAPOLITANO M, AN Y, SEANOR B, PISPISTOS S and MARTINELLI D. Applica tion of a neural sensor validation scheme to actual Boeing B737 flight data[A] .Proc of the’99AIAA Guidance, Navigation and Control Conference[C].[s.l.], 1999.
[24]NAPOLITANO M, AN Y, SEANOR B. A fault tolerant flight control syste m for sensor and actuator failures using neural networks[J].Aircraft Design,2 000(3):103-128.
[25]NAPOLITANO M, WINDON D, CASANOVA J. Kalman filters and neuralne twork schemes for sensor validation in flight control systems[J].IEEE Trans o n Control System Technology,1998(6):596-611.
[26]RAGO C, PRASANTH R, MEHRA R, FORTENBAUH R. Failure detection and i dentification and fault tolerant control using the IMMKF with application to Eag leEyeUAV[A].Proc of the 37th Conf on Decision and Control[C]. Ta mpa, USA, 1999.
[27]ALESSANDRI A, CACCIA M, VERUGGIO G. Fault detection of actuator fau lts in unmanned underwater vehicles[J].Control Engineering Practice,1999(7): 357-368.
[28]HEREDIA G, REMUB V, OLLERO A, MAHTANI R, MUSIAL M. Actuator fault d etection in autonomous helicopter[A].Proc of the 5th IFAC/EURON Symposium on Intelligent Autonomous Vehicles[C]. Lisbon, Portugal,2004.
[29]HEREDIA G, OLLERO A, MAHTANI R, BEJAR M, REMUSS V, MUSIAL M. Detect ion of sensor faults in autonomous helicopters[A].Proc of the International C onference on Robotics and Automation[C]. Barcelona,Spain, 2005.
[30]DROZESKI G, SAHA G, VACHTSEVANOS G. A fault detection and reconfigu rable control architecture for unmanned aerial vehicles[A].Proc of the IEEE C onference on Aerospace[C]. Big Sky,USA,2005.
[31]曾丽兰,王道波,郭才根,黄向华. 无人驾驶直升机飞行控制技术综述[J ].控制与决策,2006,21(4):362-366.
 ZENG Lilan, WANG Daobo, GUO Caigen, HUANG Xianghua. Survey of flight control t echnology for unmanned helicopter[J]. Control and Decision, 2006,21(4): 362-36 6.
[32]LAMINE K, KABANZA F. History checking of temporal fuzzy logic form ulas for monitoring behavior based mobile robots[A].Proceedings of the 12th IE EE International Conference on Tools with Aritficial Intelligence[C].Vancouver , Canada,2000.
[33]CARLSON J, MURPHY R, NELSON A. Followup analysis of mobile robot failure s[A].Proceedings of the IEEE International Conference on Robotics and Automati on[C]. Cincinnati,USA, 1997.
[34]QI Juntong, ZHAO Xingang, JIANG Zhe, HAN Jianda. Design and implement of a rotorcraft UAV testbed[A].Proceedings of the 2006 IEEE International Confere nce on Robotics and Biomimetics[C].Kunming,China,2006.
[35]HUA D, XING C, XIA Y. Fault diagnosis and fault tolerant control for whee led mobile robots under unknown environments:a survey[A].Proceedings of the I EEE International Conference on Robotics and Automation[C].Barcelona Spain,20 05 .
[36]NAPOLITANO N, NEPPACH C, CASDORPH V, INNOCENTIM, SILVESTRI G. A neuralne tworkbased scheme for sensor failure detection, identification, and accommodat ion[J].AIAA Journal of Guidance, Control, and Dynamics,1995,18(6):474-482. 
[37]NARENDA K, PARTASARATHY K. Identification and control of dynamical system s using neural networks[J].IEEE Trans Neural Networks,1990.
[38]NEPPACH C. Application of neural networks in sensor failure detection, id entification, and accommodation in a system without sensor redundancy [D].Morg antown:Dept Mech Aerospace Eng, West Virginia Univ,1994.
[39]RYSDYK R, CALISE A. Fault tolerant flight control via adaptive neural net work augmentation[A].AIAA Guidance, Navigation, and Control Conference and Exh ibit[C].Boston USA:1998.
[40]NAPOLITANO M, CASANOVA J, INNOCETI M. Online learning neural and fuzzy l ogic controllers for actuator failure accommodation in flight control systems[A ].AIAA Guidance, Navigation, and Control Conference[C].[s.l.],1997.
[41]KOSKO B. Fuzzy Thinking: The New Science of Fuzzy Logic[M].New York:Hype rion,1997.
[42]ISERMANN R, BALLE P. Trends in the application of modelbased fault dete ction and diagnosis of technical processes[J].Control Engineering Practice,19 97(5):709-719.
[43]HEREDIAH G, REMUB V, OLLERO A, MAHTANI R, MUSIAL M. Actuator fault detect ion in autonomous helicopters[A].Proc of the 5th IFAC Symposium on Intelligen t Autonomous Vehicles[C].Lisbon,2004.[44]BUNDICK W, THOMAS A. A preliminary evaluation of a failure detection filt er for detection and identifying control element failures in a transport aircraf t[R].NASA TM87576.
[45]MOTYKA P, BONNICE W, HALL S, WAGNER E. The evaluation of failure detectio n and isolation algorithms for restructurable control[R].NASA CR177983, 1985 . 
[46]HAUPT G, KASDIN N, KEISER G, PARKINSON B. An optimal recursive iterative algorithm for discrete nonlinear least squares estimation[A].Baltimore:1995. 
[47]KRIEDLANDER, PORAT V. Detection of transient signals by gabor representat ion[J].IEEE Trans on Acoustics, Speech, and Signal Processing,1989,37(2):16 9-180.
[48]JEE J, SUN Y. Multiscale corner detection by using wavelet transform[J]. IEEE Trans on Signal Processing,1995,4(1):100-104.
[49]FRISCH M, MESSER H. The use of the wavelet transform on the detection of an unknown transient signal[J].IEEE Trans on Information Theroy,1989,38(2): 892-897.
[50]SEUNGKEUN K, YOUDAN K, CHANGOOK P, INSUNG J. Hybird fault detection and i solation techniques for aircraft inertial measurement sensors[A].AIAA Guidance , Navigation, and Control Conference and Exhibit[C].Providence,2004.
[51]BRINKER J, WISE K. Flight testing of a reconfigurable flight control law on the X36 tailless fighter aircraft[A].AIAA Guidance, Navigation, and Contr ol Conference and Exhibit[C].Denver,2000.
[52]BRINKER J, WISE K. Nonlinear simulation analysis of a tailless advanced f ighter aircraft reconfigurable flight control law[A].AIAA Guidance, Navigation , and Control Conference and Exhibit[C].Portland,1999.
[53]CALISE A, ANTHONY J. Development of a reconfigurable flight control law f or the X36 tailless fighter aircraft[A].AIAA Guidance, Navigation, and Contr ol Conference and Exhibit[C].Denver,2000.
[54]SIWAKOSIT W, HESS R. A reconfigurable scheme for accommodating actuator f ailures in multiinput, multioutput flight control systems[A].AIAA Guidance , Navigation, and Control Conference and Exhibit[C].Denver,2000.
[55]BOSKOVIC J, LI S, MEHRA R. Evaluation of the properties of a multiplemod el reconfigurable flight controller on a 6 DOF simulation[A].AIAA Guidance, Na vigation, and Control Conference and Exhibit[C].Denver,2000.
[56]BOSKOVIC J, MEHRA R. Intelligent adaptive control of a tailless adva nced fighter aircraft in the presence of wing damage[A].AIAA Guidance, Navigat ion, and Control Conference and Exhibit[C].Portland,1999.
[57]邢 琰,吴宏鑫,王晓磊,李智斌. 航天器故障诊断与容错控制技术综述[J ].宇航学报,2003,24(3):221-226.
XING Yan, WU Hongxin, WANG Xiaolei, LI Zhibin. Survey of fault diagnosis a nd fau lttolerance control techonolgy for spacecraft[J]. Journal of Astronautics, 2003,24(3):221-226.

备注/Memo

备注/Memo:
收稿日期:2006-10-19.
基金项目:863国家高技术研究发展计划资助项目(200 3AA421020)
作者简介:齐俊桐,男,1981年生,博士研究生,主要研究方向为飞行机器人自主控制、容错控制.E-mail: qijt@sia.cn.
韩建达,男,1968年生,研究员,博士生导师,《机器人》杂志副主编,主要研究方向为自主控制、机器人系统,在国内外期刊及会议发表文章60余篇.  E-mail: jdhan@sia.cn.
更新日期/Last Update: 2009-05-06