ﻃﺮاﺣﯽ ﯾﮑﭙﺎرﭼﻪ ﺳﯿﺴﺘﻢ ﮐﻨﺘﺮل ﭘﺮواز و ﺳﯿﮕﻨﺎل ﮐﻤﮑﯽ ﺗﺸﺨﯿﺺ ﻋﯿﺐ ﻓﻌﺎل ﺑﺎ اﺳﺘﻔﺎده از ﯾﮏ روﯾﮑﺮد ﭼﻨﺪ- ﻣﺪﻟﻪ

Integrated Design of Flight Control System and Auxiliary Signal of Active Fault Detection Using a Multi-Model Approach

ﺳﯿﺴﺘﻢﻫﺎي ﮐﻨﺘﺮل ﭘﺮواز ﺑﻪ ﻋﻨﻮان ﻧﻤﻮﻧﻪاي از ﺳﯿﺴﺘﻢﻫﺎي ﻏﯿﺮﺧﻄﯽ، ﻣﯿﺒﺎﯾﺴﺖ ﻫﻮاﭘﯿﻤﺎ را در ﺷﺮاﯾﻂ ﺳﺎﻟﻢ و ﻣﻌﯿﻮب ﺑﺎ رﻋﺎﯾﺖ ﻣﺤﺪودﯾﺖﻫﺎي ﻋﻤﻠﮑﺮدي ﭘﺎﯾﺪار ﻧﻤﺎﯾﻨﺪ. در اﯾﻦ ﻣﻘﺎﻟﻪ، ﻧﺨﺴﺖ، ﻣﺪل ﻏﯿﺮﺧﻄﯽ ﺳﯿﺴﺘﻢ ﭘﺮواز ﻫﻮاﭘﯿﻤﺎ ﺑﺮ اﺳﺎس ﻧﻘﺎط ﮐﺎر از ﭘﯿﺶ ﺗﻌﯿﯿﻦ ﺷﺪه و ﻫﻤﭽﻨﯿﻦ ﻣﺪلﻫﺎي ﺳﺎﻟﻢ و ﻣﻌﯿﻮب ﻫﻮاﭘﯿﻤﺎ، ﺑﻪ ﻓﺮم ﯾﮏ ﺳﯿﺴﺘﻢ ﭼﻨﺪ- ﻣﺪﻟﻪ ﺗﺒﺪﯾﻞ ﺷﺪه اﺳﺖ. ﺑﻪ ﻣﻨﻈﻮر ﺣﺬف اﺛﺮ ﻧﺎﻣﻄﻠﻮب ﻣﺨﻔﯽﺳﺎزي ﻋﯿﻮب ﺳﯿﺴﺘﻢ ﭘﺮواز ﻧﺎﺷﯽ از ﭼﻨﺪ- ﻣﺪﻟﻪﺳﺎزي و اﻋﻤﺎل ﮐﻨﺘﺮلﮐﻨﻨﺪه ﺑﻪ ﺳﯿﺴﺘﻢ ﻏﯿﺮﺧﻄﯽ، ﻣﺴﺌﻠﻪ ﻃﺮاﺣﯽ ﯾﮑﭙﺎرﭼﻪ ﺳﯿﺴﺘﻢ ﮐﻨﺘﺮل ﭘﺮواز ﻣﺒﺘﻨﯽ ﺑﺮ ﺗﺸﺨﯿﺺ ﻋﯿﺐ ﻓﻌﺎل ﺗﺪوﯾﻦ ﺷﺪه اﺳﺖ. ﺻﻮرت ﻣﺴﺌﻠﻪ ﭘﯿﺸﻨﻬﺎدي ﺑﺎ روﯾﮑﺮد ﻃﺮاﺣﯽ ﯾﮏ ﮐﻨﺘﺮلﮐﻨﻨﺪه اﺳﺘﺎﺗﯿﮑﯽ و ﻣﺮﺗﺒﻪ-ﺛﺎﺑﺖ، ﺑﺎ ﻓﺮض ﻣﺮﺗﺒﻪ-ﮐﺎﻣﻞ ﺑﺎ ﻗﺎﺑﻠﯿﺖ ﮐﺎﻫﺶ ﻣﺮﺗﺒﻪ، ﺑﻪ ﻧﺤﻮي ﺗﺪوﯾﻦ ﺷﺪه اﺳﺖ ﮐﻪ ﻋﻼوه ﺑﺮ ﺗﻀﻤﯿﻦ ﭘﺎﯾﺪاري ﮐﻠﯿﻪ ﻣﺪلﻫﺎي ﺳﯿﺴﺘﻢ ﺳﺎﻟﻢ و ﻣﻌﯿﻮب و ﺑﺮآورده ﻧﻤﻮدن ﺷﺎﺧﺺﻫﺎي ﻋﻤﻠﮑﺮدي، ﺑﺘﻮاﻧﺪ ﺳﯿﮕﻨﺎل ﮐﻤﮑﯽ ﺗﺸﺨﯿﺺ ﻋﯿﺐ ﻓﻌﺎل را ﺑﻪ ﺻﻮرت ﺑﻬﯿﻨﻪ ﻃﺮاﺣﯽ ﻧﻤﺎﯾﺪ. ﺑﺮاي ﺣﻞ ﻣﺴﺌﻠﻪ ﭘﯿﺸﻨﻬﺎدي، ﯾﮏ راه ﺣﻞ ﻋﺪدي ﺑﺎ اﺳﺘﻔﺎده از اﻟﮕﻮرﯾﺘﻢ ژﻧﺘﯿﮏ اراﺋﻪ ﺷﺪه اﺳﺖ. ﺳﭙﺲ ﺑﺎ اﺳﺘﻔﺎده از روش ﭘﯿﺸﻨﻬﺎدي، دو ﮐﻨﺘﺮلﮐﻨﻨﺪهي ﻣﺮﺗﺒﻪ-ﮐﺎﻣﻞ و ﮐﺎﻫﺶ- ﻣﺮﺗﺒﻪﯾﺎﻓﺘﻪ ﺑﺮاي ﯾﮏ ﻫﻮاﭘﯿﻤﺎ ﺑﺎ در ﻧﻈﺮﮔﺮﻓﺘﻦ ﺷﺮاﯾﻂ ﮐﺎﻫﺶ ﻋﻤﻠﮑﺮد ﻋﻤﻠﮕﺮ، ﻃﺮاﺣﯽ ﺷﺪه اﺳﺖ. ﻧﺘﺎﯾﺞ ﺷﺒﯿﻪﺳﺎزي ﮔﻮﯾﺎي ﺗﻮاﻧﺎﯾﯽ روش ﭘﯿﺸﻨﻬﺎدي در ﺑﺮآوردهﺳﺎزي اﻫﺪاف ﮐﻨﺘﺮﻟﯽ و ﻃﺮاﺣﯽ ﺳﯿﮕﻨﺎل ﮐﻤﮑﯽ ﺗﺸﺨﯿﺺ ﻋﯿﺐ ﻓﻌﺎل ﻣﯽﺑﺎﺷﻨﺪ.

A flight control system (FCS) as an example of nonlinear systems should be stabilizing the airplane in healthy and faulty modes with the desired performance. In this paper, first, the nonlinear model of the flight system (FS) is linearized in predefined operating points, and the airplane’s healthy and faulty modes convert to a multi-model system. To eliminate the undesired effect of multi-modeling and the controller robustness that usually causes to mask the faults in FSs, the problem of integrated design of FCS based on active fault detection (AFD) is formulated. The proposed problem concluded to design the optimal auxiliary signal of AFD and a static, fixed, and full-order controller with the capability in reduced-order design. The FCS guarantees to stabilize all of the healthy and faulty models and to satisfy the performance constraints. In the following, to solve the formulated problem, a numerical solution based on the genetic algorithm is proposed. To evaluate the proposed method, two full-order and reduced-ordered controllers are designed for an aircraft in the case of actuator degradation conditions. The simulation results show the ability of the proposed method to meet the control objectives and design the auxiliary signal for AFD.