本书主要介绍自愈合控制概念的起源与研究现状，着重描述飞行控制系统的自愈合控制的新方法。针对三自由度双旋翼直升机，以状态观测器技术为基础研究了三自由度双旋翼直升机在发生执行器故障时的故障诊断方法，为自愈合控制策略设计提供准确的故障诊断结果；针对发生驱动器故障的四旋翼直升机，基于自适应控制理论，介绍了三种针对四旋翼直升机的自愈合控制方法；针对飞行器发生多故障情形，介绍了三种多故障自愈合控制设计方法。数字仿真及半物理仿真结果表明，这些研究结果可增强机载控制自愈合性，从而保证航空器在故障和损伤等恶劣条件下的安全飞行。

前 言 功能自愈合是指系统在出现由多重故障和结构损伤导致的大幅度参数变化和结构不确定的情况下，通过自身的自动调节而恢复并保持理想的系统特性。功能自愈合的实现需要更高效的故障诊断和容错控制技术。 美国国家航空航天局（NASA）统计数据显示，在126 起飞机失控事故中，94%事故由不利机载条件引起；其中，由系统故障、损伤和错误引起的事故占45%。2007年，NASA 开启了名为“Integrated Resilient Aircraft Control”（综合自愈合飞行控制）的研究计划，以增强飞控系统的自愈合能力。2009 年，美国爱达荷国家实验室的Rieger等人首次提出了自愈合控制的概念。NASA 兰利研究中心考虑航空器中的失控事故，解决了非正常飞行条件下安全关键自愈合飞行控制系统的设计问题；麻省理工学院与NASA 兰利研究中心合作，针对通用运输机模型，研究其模型重心不确定和时延故障情况下的自愈合控制技术；NASA 德莱顿飞行研究中心将有关测试飞机（改进的F/A-18A）用于自愈合控制技术研究的飞行测试。 2012 年，美国国家科学基金会开启了名为“Failure-Resistant Systems”（故障自愈合系统）的研究计划，旨在把自愈合控制系统的概念进一步推广。我国“十二五”“十三五”规划明确把这个航空航天重大科学问题列入有关科学技术发展部分，以推动故障诊断和容错控制技术的研究。本书是沿着这一重要战略研究方向完成的。 本书主要内容包括高超声速飞行器、双旋翼直升机、四旋翼直升机的故障诊断方法及自愈合控制方法。主要介绍了多故障鲁棒自适应控制、融合前馈补偿和直接自适应控制、组合多模型、H 故障观测器、反步控制和干扰观测器结合、鲁棒反步滑模控制等在自愈合控制研究中的尝试。本书可为读者研究探索自愈合控制提供参考，希望本书的研究结果能为促进自愈合控制技术的发展，起到抛砖引玉的作用。 本书由南京航空航天大学陈复扬教授与南京邮电大学王瑾博士共同完成，陈复扬、王瑾负责内容设计、组织安排编写。前言、第1~5 章由陈复扬编写，第6~10 章由王瑾编写，全书由陈复扬、王瑾共同统稿及排版。研究生张世俊、吴庆波、王正、张康康等也为本书的出版贡献了自己的聪明才智，在此一并表示诚挚的谢意。 由于水平和经验所限，书中难免存在错误和不足之处，恳请广大读者不吝指正。 编者E-mail：chenfuyang@nuaa.edu.cn 编 者 中国南京 2017 年7 月

第1 章 绪论 ················································································································ 1 1.1 自愈合控制的研究背景 ··························································································· 1 1.2 国内外研究现状 ······································································································· 2 1.3 最新研究成果 ·········································································································· 6 第2 章 基于观测器设计的双旋翼直升机故障诊断方法 ····················································· 9 2.1 引言 ····················································································································· 9 2.2 双旋翼直升机控制系统建模及半物理仿真平台 ·················································· 10 2.2.1 纵列式双旋翼直升机 ················································································· 10 2.2.2 双旋翼直升机半物理仿真平台·································································· 13 2.3 基于自适应观测器的多执行器卡死故障诊断 ······················································ 22 2.3.1 执行器卡死故障系统描述 ········································································· 22 2.3.2 鲁棒快速自适应故障估计方法·································································· 23 2.3.3 多模型故障诊断方法 ················································································· 26 2.3.4 仿真与分析 ································································································ 29 2.4 基于自适应滑模观测器的执行器时变故障诊断 ·················································· 34 2.4.1 系统描述 ···································································································· 35 2.4.2 基于自适应滑模观测器的故障诊断方法 ·················································· 36 2.4.3 仿真与分析 ································································································ 39 2.5 相对阶大于1 的非线性系统执行器故障诊断 ······················································ 44 2.5.1 微分几何基本知识 ····················································································· 44 2.5.2 三自由度双旋翼直升机非线性模型分析 ·················································· 45 2.5.3 基于构造辅助输出的执行器故障诊断 ······················································ 46 2.5.4 仿真分析 ···································································································· 50 2.6 本章小结 ················································································································ 53 第3 章 基于自适应控制的双旋翼直升机多故障自愈合控制 ··········································· 54 3.1 引言 ····················································································································· 54 3.2 三自由度双旋翼直升机改进模型 ········································································· 55 3.3 基于自适应控制的多故障自愈合控制器设计 ······················································ 58 3.4 仿真验证及结果分析 ····························································································· 60 3.5 本章小结 ················································································································ 63 第4 章 含有未知参数的四旋翼直升机多故障自愈合控制 ··············································· 64 4.1 引言 ··················································································································· 64 4.2 四旋翼直升机动力学模型 ····················································································· 66 4.3 联级控制系统基本控制器设计 ············································································· 67 4.4 针对执行器部分失效故障的滑模自愈合控制器设计 ·········································· 71 4.5 针对未知参数的自适应容错控制器设计 ······························································ 75 4.6 各控制器间的时间尺度分析 ················································································· 77 4.7 仿真验证及结果分析 ····························································································· 78 4.8 本章小结 ················································································································ 84 第5 章 基于前馈补偿和直接自适应的四旋翼直升机自愈合控制 ··································· 85 5.1 引言 ···················································································································· 85 5.2 四旋翼直升机控制系统与问题描述 ······································································ 86 5.3 自愈合控制方案设计 ····························································································· 87 5.3.1 内环基础控制律设计 ················································································· 87 5.3.2 直接自适应重构控制器设计 ····································································· 87 5.3.3 前馈补偿器设计 ························································································· 90 5.4 系统仿真验证与分析 ····························································································· 92 5.5 本章小结 ················································································································ 95 第6 章 基于组合多模型的四旋翼直升机自愈合控制 ······················································· 96 6.1 引言 ················································································································· 96 6.2 飞行控制系统问题描述 ························································································· 97 6.3 自愈合控制系统设计 ····························································································· 98 6.3.1 参考模型优化设计 ····················································································· 98 6.3.2 自适应重构控制律设计 ············································································· 99 6.3.3 多模型集建立及控制器设计 ··································································· 101 6.4 系统仿真验证与分析 ··························································································· 104 6.5 本章小结 ·············································································································· 108 第7 章 基于H 故障观测器的四旋翼直升机自愈合控制 ·············································· 109 7.1 引言 ··············································································································· 109 7.2 控制系统及故障描述 ··························································································· 110 7.3 自愈合控制系统设计 ··························································································· 111 7.3.1 带故障补偿项的自适应控制律设计 ························································ 111 7.3.2 H 故障观测器设计 ················································································ 114 7.4 系统仿真验证与分析 ··························································································· 117 7.5 本章小结 ·············································································································· 120 第8 章 基于反步控制与干扰观测器的四旋翼无人机自愈合控制 ································· 121 8.1 引言 ·················································································································· 121 8.2 带干扰块的四旋翼无人机数学模型 ···································································· 122 8.3 非线性干扰观测器设计 ······················································································· 127 8.4 反步控制器设计 ··································································································· 130 8.4.1 反步控制相关知识 ··················································································· 130 8.4.2 欠驱动系统的反步设计 ··········································································· 135 8.4.3 全驱动系统的反步设计 ··········································································· 138 8.4.4 反步输入控制 ··························································································· 139 8.4.5 反步控制器的容错设计 ··········································································· 140 8.5 仿真验证及结果分析 ··························································································· 142 8.6 本章小结 ·············································································································· 147 第9 章 四旋翼无人机的鲁棒反步滑模控制设计 ···························································· 148 9.1 引言 ··················································································································· 148 9.2 四旋翼无人机数学模型 ······················································································· 149 9.3 姿态角系统轨迹跟踪滑模控制设计 ···································································· 150 9.3.1 滑模控制相关知识 ··················································································· 150 9.3.2 姿态角滑模跟踪控制设计 ······································································· 154 9.4 位置轨迹跟踪的反步滑模控制设计 ···································································· 157 9.5 仿真验证及结果分析 ··························································································· 164 9.6 本章小结 ·············································································································· 167 第10 章 高超声速飞行器的多故障鲁棒自适应控制 ······················································ 168 10.1 引言 ··················································································································· 168 10.2 高超声速飞行器的非线性纵向模型 ·································································· 169 10.3 针对完全失效故障的自适应观测器设计 ·························································· 171 10.4 针对缓变故障和模型不确定性的支持向量机补偿控制器设计 ······················· 174 10.5 仿真验证及结果分析 ························································································· 178 10.6 本章小结 ············································································································ 182 参考文献 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陈复扬，江苏扬州人，工学博士，教授，博士生导师。现为南京航空航天大学自动化学院党委委员、自动控制系教工党支部书记，长期从事自适应控制、故障诊断与容错控制、自修复控制、自愈合控制、飞行控制、物联网与控制技术、量子信息与控制理论、高铁信息控制系统的故障诊断、道路交通管理控制等方面的科学研究。现为中国兵工学会自动控制专业委员会委员、江苏省暨南京市航空航天学会自动控制专业委员会委员。__eol__近年来主持国家自然科学基金面上项目2项、航空科学基金1项；获中国航空学会科学技术奖1项、出版专著3部、以第1作者发表学术论文60余篇( SCI收录30篇)、申请发明专利20项。长期从事《自动控制原理》《自适应控制》《自适应控制与歌唱艺术》课程教学，主持校级教改项目6项、获江苏省教学成果二等奖1项、主编出版教材6部、发表教改论文10篇。