本書主要介紹自愈合控制概念的起源與研究現(xiàn)狀，著重描述飛行控制系統(tǒng)的自愈合控制的新方法。針對三自由度雙旋翼直升機，以狀態(tài)觀測器技術(shù)為基礎(chǔ)研究了三自由度雙旋翼直升機在發(fā)生執(zhí)行器故障時的故障診斷方法，為自愈合控制策略設(shè)計提供準(zhǔn)確的故障診斷結(jié)果；針對發(fā)生驅(qū)動器故障的四旋翼直升機，基于自適應(yīng)控制理論，介紹了三種針對四旋翼直升機的自愈合控制方法；針對飛行器發(fā)生多故障情形，介紹了三種多故障自愈合控制設(shè)計方法。數(shù)字仿真及半物理仿真結(jié)果表明，這些研究結(jié)果可增強機載控制自愈合性，從而保證航空器在故障和損傷等惡劣條件下的安全飛行。
前 言
功能自愈合是指系統(tǒng)在出現(xiàn)由多重故障和結(jié)構(gòu)損傷導(dǎo)致的大幅度參數(shù)變化和結(jié)構(gòu)不確定的情況下，通過自身的自動調(diào)節(jié)而恢復(fù)并保持理想的系統(tǒng)特性。功能自愈合的實現(xiàn)需要更高效的故障診斷和容錯控制技術(shù)。
美國國家航空航天局（NASA）統(tǒng)計數(shù)據(jù)顯示，在126 起飛機失控事故中，94%事故由不利機載條件引起；其中，由系統(tǒng)故障、損傷和錯誤引起的事故占45%。2007年，NASA 開啟了名為Integrated Resilient Aircraft Control（綜合自愈合飛行控制）的研究計劃，以增強飛控系統(tǒng)的自愈合能力。2009 年，美國愛達荷國家實驗室的Rieger等人首次提出了自愈合控制的概念。NASA 蘭利研究中心考慮航空器中的失控事故，解決了非正常飛行條件下安全關(guān)鍵自愈合飛行控制系統(tǒng)的設(shè)計問題；麻省理工學(xué)院與NASA 蘭利研究中心合作，針對通用運輸機模型，研究其模型重心不確定和時延故障情況下的自愈合控制技術(shù)；NASA 德萊頓飛行研究中心將有關(guān)測試飛機（改進的F/A-18A）用于自愈合控制技術(shù)研究的飛行測試。
2012 年，美國國家科學(xué)基金會開啟了名為Failure-Resistant Systems（故障自愈合系統(tǒng)）的研究計劃，旨在把自愈合控制系統(tǒng)的概念進一步推廣。我國十二五十三五規(guī)劃明確把這個航空航天重大科學(xué)問題列入有關(guān)科學(xué)技術(shù)發(fā)展部分，以推動故障診斷和容錯控制技術(shù)的研究。本書是沿著這一重要戰(zhàn)略研究方向完成的。
本書主要內(nèi)容包括高超聲速飛行器、雙旋翼直升機、四旋翼直升機的故障診斷方法及自愈合控制方法。主要介紹了多故障魯棒自適應(yīng)控制、融合前饋補償和直接自適應(yīng)控制、組合多模型、H 故障觀測器、反步控制和干擾觀測器結(jié)合、魯棒反步滑模控制等在自愈合控制研究中的嘗試。本書可為讀者研究探索自愈合控制提供參考，希望本書的研究結(jié)果能為促進自愈合控制技術(shù)的發(fā)展，起到拋磚引玉的作用。
本書由南京航空航天大學(xué)陳復(fù)揚教授與南京郵電大學(xué)王瑾博士共同完成，陳復(fù)揚、王瑾負(fù)責(zé)內(nèi)容設(shè)計、組織安排編寫。前言、第1~5 章由陳復(fù)揚編寫，第6~10 章由王瑾編寫，全書由陳復(fù)揚、王瑾共同統(tǒng)稿及排版。研究生張世俊、吳慶波、王正、張康康等也為本書的出版貢獻了自己的聰明才智，在此一并表示誠摯的謝意。
由于水平和經(jīng)驗所限，書中難免存在錯誤和不足之處，懇請廣大讀者不吝指正。
編者E-mail：chenfuyang@nuaa.edu.cn
編 者
中國南京
2017 年7 月
陳復(fù)揚，江蘇揚州人，工學(xué)博士，教授，博士生導(dǎo)師�，F(xiàn)為南京航空航天大學(xué)自動化學(xué)院黨委委員、自動控制系教工黨支部書記，長期從事自適應(yīng)控制、故障診斷與容錯控制、自修復(fù)控制、自愈合控制、飛行控制、物聯(lián)網(wǎng)與控制技術(shù)、量子信息與控制理論、高鐵信息控制系統(tǒng)的故障診斷、道路交通管理控制等方面的科學(xué)研究�，F(xiàn)為中國兵工學(xué)會自動控制專業(yè)委員會委員、江蘇省暨南京市航空航天學(xué)會自動控制專業(yè)委員會委員。近年來主持國家自然科學(xué)基金面上項目2項、航空科學(xué)基金1項；獲中國航空學(xué)會科學(xué)技術(shù)獎1項、出版專著3部、以第1作者發(fā)表學(xué)術(shù)論文60余篇( SCI收錄30篇)、申請發(fā)明專利20項。長期從事《自動控制原理》《自適應(yīng)控制》《自適應(yīng)控制與歌唱藝術(shù)》課程教學(xué)，主持校級教改項目6項、獲江蘇省教學(xué)成果二等獎1項、主編出版教材6部、發(fā)表教改論文10篇。
第1 章 緒論 ················································································································ 1
1.1 自愈合控制的研究背景 ··························································································· 1
1.2 國內(nèi)外研究現(xiàn)狀 ······································································································· 2
1.3 最新研究成果 ·········································································································· 6
第2 章 基于觀測器設(shè)計的雙旋翼直升機故障診斷方法 ····················································· 9
2.1 引言 ····················································································································· 9
2.2 雙旋翼直升機控制系統(tǒng)建模及半物理仿真平臺 ·················································· 10
2.2.1 縱列式雙旋翼直升機 ················································································· 10
2.2.2 雙旋翼直升機半物理仿真平臺·································································· 13
2.3 基于自適應(yīng)觀測器的多執(zhí)行器卡死故障診斷 ······················································ 22
2.3.1 執(zhí)行器卡死故障系統(tǒng)描述 ········································································· 22
2.3.2 魯棒快速自適應(yīng)故障估計方法·································································· 23
2.3.3 多模型故障診斷方法 ················································································· 26
2.3.4 仿真與分析 ································································································ 29
2.4 基于自適應(yīng)滑模觀測器的執(zhí)行器時變故障診斷 ·················································· 34
2.4.1 系統(tǒng)描述 ···································································································· 35
2.4.2 基于自適應(yīng)滑模觀測器的故障診斷方法 ·················································· 36
2.4.3 仿真與分析 ································································································ 39
2.5 相對階大于1 的非線性系統(tǒng)執(zhí)行器故障診斷 ······················································ 44
2.5.1 微分幾何基本知識 ····················································································· 44
2.5.2 三自由度雙旋翼直升機非線性模型分析 ·················································· 45
2.5.3 基于構(gòu)造輔助輸出的執(zhí)行器故障診斷 ······················································ 46
2.5.4 仿真分析 ···································································································· 50
2.6 本章小結(jié) ················································································································ 53
第3 章 基于自適應(yīng)控制的雙旋翼直升機多故障自愈合控制 ··········································· 54
3.1 引言 ····················································································································· 54
3.2 三自由度雙旋翼直升機改進模型 ········································································· 55
3.3 基于自適應(yīng)控制的多故障自愈合控制器設(shè)計 ······················································ 58
3.4 仿真驗證及結(jié)果分析 ····························································································· 60
3.5 本章小結(jié) ················································································································ 63
第4 章 含有未知參數(shù)的四旋翼直升機多故障自愈合控制 ··············································· 64
4.1 引言 ··················································································································· 64
4.2 四旋翼直升機動力學(xué)模型 ····················································································· 66
4.3 聯(lián)級控制系統(tǒng)基本控制器設(shè)計 ············································································· 67
4.4 針對執(zhí)行器部分失效故障的滑模自愈合控制器設(shè)計 ·········································· 71
4.5 針對未知參數(shù)的自適應(yīng)容錯控制器設(shè)計 ······························································ 75
4.6 各控制器間的時間尺度分析 ················································································· 77
4.7 仿真驗證及結(jié)果分析 ····························································································· 78
4.8 本章小結(jié) ················································································································ 84
第5 章 基于前饋補償和直接自適應(yīng)的四旋翼直升機自愈合控制 ··································· 85
5.1 引言 ···················································································································· 85
5.2 四旋翼直升機控制系統(tǒng)與
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