Desenvolvimento e Implementação do Método dos MQR-FE Acoplado a um Sistema de CAMR

Abstract

Helicopters are high cost and safety systems with a strong control system designed to maintain the helicopter performance, stability, and ight qualities. However, there exist faults that negatively a_ect the helicopter desirable behaviour; therefore, fault detection and isolation must be done to early detect, isolate and eliminate these faults. Because of helicopters are strongly nonlinear systems, and are a_ected by uncertainties and by external disturbances as wind bursts, robust residuals generation is required to correctly detect and isolate faults in the helicopter actuators and sensors. This paper leads with the robust fault detection and isolation of a six-degree of freedom helicopter benchmark using the disturbance decoupling method and the unknown input observer robust residuals generator. A generalized observer scheme is employed for fault isolation purposes.