Tham khảo tài liệu 'advances in flight control systems part 9', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Active Fault Diagnosis and Major Actuator Failure Accommodation Application to a UAV 147 The first UIDFO estimates the unknown right aileron actual position gar by processing the measurement vector y and the known input u1 gal ger gel T. Let bgi the column of the control matrix B associated with the gi control input then Bl bg bger bgeỉ T and G1 bgar Z1 F1Z1 Hiy T1B1 gal ger gel T T1G1 gar 31 gar 71 Wiy - E1Z1 The other three ones UIDFO equations write Z2 F2Z2 H2y T2B2 g r ger gel T T2G2gal 32 gal 72 W2y - E2Z2 with B2 bgar bger b- T and G2 b- Z3 F3Z3 H3y T3B3 gar gal gel T T3G3ger 33 ger 73 W3y - E3Z3 with B3 bgar bgal bgei T and G3 bger Z4 F4Z4 H4y T4B4 gar gal ger T T4G4gel 34 gel 74 W4y - E4Z4 with B4 bgar bgal bger T and G4 bị . For all the UIDFOs condition i is assessed and condition ii is checked by computing the staircase forms of the system matrices A Gj C 0 with j 1 . 4 and the observability pencil A C with the GUPTRI algorithm. Error signals are generated by comparison between the control positions gi and the estimated positions g i where gi Ễ gar gal ger gel . In order to avoid false alarm that may arise from the transient behavior these signals are integrated on a duration T to produce residuals rg such that rg pt z I gi e - gị e de 35 Let ơgt the corresponding threshold and i . a logical state such that i . 1 if rg ơg else ụg. 0. Then to detect and to partially isolate the faulty control surface an incidence matrix is defined as follows Faulty control bs r bSg M7 Vs right aileron 1 0 1 0 left aileron 1 0 1 0 right ruddervator 0 0 0 1 left ruddervator 0 1 0 0 Table 2. The incidence matrix This matrix reveals that fault on right aileron and fault on left aileron are not isolable. In order to illustrate the above-mentioned concepts three failure scenarios are studied a non critical ruddervator loss of efficiency 50 a catastrophic ruddervator locking and a non critical aileron locking. For the three cases the fault occurs at faulty time tf 16s whereas the
