Aiming at the problem of partial failure diagnosis of the actuator of the quadrotor UAV,a single-channel simplified system state space model of the quadrotor UAV is constructed.The algorithm flow and shortcomings of the traditional en-hanced state Kalman filter are analyzed,and a multi-stage joint fault observer is proposed to accurately estimate the devia-tion coefficient and the original state quantity of the system.The simulation results show that the multi-stage joint fault ob-server can accurately estimate the fault coefficients under different working conditions,and obtain the original real state quantity after the system compensation deviation.It can be seen that the multi-stage joint fault observer has advantages in solving the problem of fault diagnosis of the quadrotor UAV.
维普
万方数据