Research On Servo Control System Of An Airborne Tracking And Stabilization Platform

Unmanned helicopter airborne flight sensors usually have size, weight and other constraints, and often work in harsh environment with vibration, strong interference, where sensors are high reliability requirements of unmanned helicopter flight control system. This paper aims to design an unmanned helicopter flight sensor simulation system to simulate the real sensors'signal and presents a sensor fault diagnosis and tolerant design methods. Main research work is as follows.For a certain type of unmanned helicopter, each airborne sensor is analyzed and researched. Vertical gyro, piezoelectric angular rate gyro, Flexible accelerometers, magnetic heading terms, air data systems and differential GPS's mathematical model is established. Research sensors'error model and analyze sensors'faults that may occur and the corresponding fault modes are given.Using the status and measurement information of vertical gyro, piezoelectric gyro, accelerometers, air data computing systems, GPS and magnetic heading meter, a fault diagnosis and tolerant federated filter algorithm is given which is based on double-stateχ2. Sub federated filter system is designed respectively to resolve the different output frequency of the sensor measurement information. Based on an unmanned helicopter model, according to setting track of flight, the position, velocity and attitude output information of each sensor is given. And the information fusion simulation experiment is carried out with the fault diagnosis and tolerant federated filter algorithm.To verify the sensor simulation system's availability, a sensor emulator with high-performance DSP is designed, include the sensor input and output interfaces. Each sensor error and fault are injected into the emulator through the host computer, and the fault diagnosis and tolerant algorithm program is designed to complete hardware-in-the-loop simulation experiment of the unmanned helicopter flight sensor simulation system. The results show that the sensor simulator can simulate the real sensor to give real-time sensor signals and can diagnose the sensors'faults, and it has significant value in flight control systems. Key words: unmanned helicopter, sensor simulation, fault diagnose, torrlent technology, federated filter...