Robotics, Vision and Control Group, University of Seville, Camino de los Descubrimientos s/n, 41092, Seville, Spain.
Sensors (Basel). 2010;10(3):2188-201. doi: 10.3390/s100302188. Epub 2010 Mar 17.
The Helicopter Adaptive Aircraft (HADA) is a morphing aircraft which is able to take-off as a helicopter and, when in forward flight, unfold the wings that are hidden under the fuselage, and transfer the power from the main rotor to a propeller, thus morphing from a helicopter to an airplane. In this process, the reliable folding and unfolding of the wings is critical, since a failure may determine the ability to perform a mission, and may even be catastrophic. This paper proposes a virtual sensor based Fault Detection, Identification and Recovery (FDIR) system to increase the reliability of the HADA aircraft. The virtual sensor is able to capture the nonlinear interaction between the folding/unfolding wings aerodynamics and the HADA airframe using the navigation sensor measurements. The proposed FDIR system has been validated using a simulation model of the HADA aircraft, which includes real phenomena as sensor noise and sampling characteristics and turbulence and wind perturbations.
直升机自适应飞行器（HADA）是一种变体飞机，它能够以直升机的形式起飞，当向前飞行时，展开隐藏在机身下的机翼，并将动力从主旋翼转移到螺旋桨，从而从直升机转变为飞机。在这个过程中，机翼可靠的折叠和展开至关重要，因为故障可能决定任务的执行能力，甚至可能是灾难性的。本文提出了一种基于虚拟传感器的故障检测、识别和恢复（FDIR）系统，以提高 HADA 飞机的可靠性。虚拟传感器能够利用导航传感器的测量值捕捉折叠/展开机翼空气动力学与 HADA 机身之间的非线性相互作用。所提出的 FDIR 系统已经使用 HADA 飞机的仿真模型进行了验证，该模型包括传感器噪声和采样特性、湍流和风扰动等实际现象。
