Study On Health Status Assessment And Remaining Life Prediction Of Quadrotor UAV Under Uncertainty Perturbation

Quadrotor unmanned aerial vehicle(UAV)is a kind of vertical take-off and landing unmanned aerial vehicle,which has the characteristics of strong carrying capacity and flexible operation,and has important application value in military,civil and commercial applications.Research on the health assessment of quadrotor UAV,including system state comprehensive assessment,performance degradation and reliability,is the foundation for ensuring their safety,reliability and operation.Fault diagnosis and performance degradation modeling are important contents of health assessment.The quadrotor UAV system consists of multiple components(actuator module,sensor module,communication module and energy module),multi-failure mode coupling,fault characteristics and performance degradation mechanism are complex,its dynamic behavior and fault characteristics are more complex under the influence of multi-source uncertainties,bringing new challenges to health assessment.Therefore,this paper studies the motion accuracy reliability analysis method of quadrotor UAV under multi-source uncertainty,failure mode and influence analysis of key components,fault diagnosis,and residual life prediction method.The main research contents are as follows:(1)Dynamic analysis and motion accuracy reliability evaluation of quadrotor UAV under interval and random mixed uncertainties.Under the influence of manufacturing errors,loads,assembly and other uncertain factors,the dynamic behavior of quadrotor UAV has randomness.Studying the influence of uncertain factors on the dynamic behavior and motion accuracy reliability of quadrotor UAV is an important content for effective evaluation of their health status.This paper studies the establishment of dynamic models and efficient solution methods for quadrotor UAV under interval and random mixed uncertainties,as well as the evaluation method for motion accuracy reliability.The safe flight distance of a certain type of quadrotor UAV is determined based on specific application scenarios and motion accuracy reliability requirements.(2)Analysis of the failure modes and effects of quadrotor UAV actuator components.The actuator is one of the key components of quadrotor UAV,consisting of four brushless motors and four propellers connected to it,and is the main source of power for the quadrotor UAV.With the widespread application of quadrotor UAV and the complexity of the usage environment,actuators have become one of the main sources of faults.Analyzing their failure modes and impacts is an important step in evaluating the health status of quadrotor UAV.This paper studies the fault modes and fault diagnosis methods of actuator,and further analyzes their impact on the performance of quadrotor UAV.(3)Research on sensor fault modes and fault diagnosis methods for quadrotor UAV.The sensors of quadrotor UAV provide real-time flight status information,which is an important part of the control feedback loop.Their health status has a significant impact on the service performance of quadrotor UAV.Firstly,the paper analyzes the sensor failure modes of quadrotor UAV,and the failure simulation model of sensors are established,analyzes the signal states of the angular rate gyroscope under different failure modes.On this basis,the effectiveness of feature extraction for sensor fault signals under different signal decomposition methods is studied,and an accurate sensor fault diagnosis model is established to provide a basis for further analysis of the health status of quadrotor UAV.(4)Residual life prediction of rate gyroscope for quadrotor UAV based on performance degradation data.Establishing accurate residual life prediction model of component level is the key to study the state of the whole machine.Aiming at the performance degradation problem of rate gyroscope,this paper analyzes the fitting degree of different residual life prediction methods based on the performance degradation test data,and proposes a performance degradation model of rate gyroscope by using Gaussian process regression(GPR)method.Through comparative analysis,the established model can predict the residual life of rate gyroscope more efficiently and accurately.