SENSOR/ACTUATOR FAULT DETECTION, ISOLATION AND ACCOMMODATION APPLIED TO UAV MODEL

Bu makalede küçük bir insansız hava aracı modelinde innovasyon süreci analizi yolu ile sensör ve aktüatorlerde arıza tespiti,ayıklanması ve düzeltilmesi konuları ele alınmıştır. Sensör ve aktuatörlerde hata tespiti ve ayıklanmasi yapılması bir hata toleranslı kontrol sisteminin önemli bir kısmını oluşturur. Çalışmada sensör ve aktüatörlerde olusan hataların belirlenmesi,ayrıştırılması ve sensör verilerinin hatalı durumda düzgün tahmin edilmesi ile ilgili metodlar verilmiştir. Hata tespit ve ayrıştırması icin Kalman filtresi tekniği kullanılmıştır. Gürbüz Kalman filtresi aktüatör ve sensör hataları arasındaki ayrıştırma işini yapmak amacı ile tasarlanmıştır. Basitleştirilmiş gürbüz bir Kalman filtresi ise sensör hataları olması durumunda düzeltilmiş sensör verileri türetilmesi icin oluşturulmuştur. Simulasyonlar küçük insansız hava aracı modelinde yapılmış ve hız sensörleri ve elevatorde meydana gelen arıza durumları simule edilmeye çalışılmıştır.

SENSÖR/AKTUATÖR HATA BULMA, AYRISTIRMA METODLARININ UAV MODELİNE UYGULANMASI

In this study sensor/actuator fault detection, isolation and accommodation is performed using innovation sequence analysis in a small Unmanned Aerial Vehicle (UAV) model. Sensor/actuator fault detection and isolation is an important part of a fault tolerant control system. In the study ways of determining the faults that occur in sensors and actuators, distinguishing between them and isolating the faults in the sensors is described. Kalman filtering technique is used to build a fault detection and isolation algorithm and a robust Kalman filter is designed to distinguish between actuator and sensor faults. A simplified robust adaptive Kalman filter is also built to estimate the states in case of measurement system malfunctions. The small UAV model is used for simulations and faults occurring in speed sensors and elevators are simulated.

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