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IET Cyber-Systems and Robotics
IET Cyber-Systems and Robotics  2020, Vol. 2 Issue (1): 31-42    DOI: 10.1049/iet-csr.2019.0039
    
基于监督控制理论的多旋翼飞行器故障安全机制设计
Quan Quan1, Zhiyao Zhao2, Liyong Lin3, Peng Wang1, Walter Murray Wonham3, Kai-Yuan Cai1
1 School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, People's Republic of China
2 School of Computer and Information Engineering, Beijing Technology and Business University, No. 11/33 Fucheng Road, Haidian District, Beijing 100048, People's Republic of China
3 Department of Electrical and Computer Engineering, University of Toronto, Toronto, ON M5S 3G4, Canada
Failsafe mechanism design of multicopters based on supervisory control theory
Quan Quan1, Zhiyao Zhao2, Liyong Lin3, Peng Wang1, Walter Murray Wonham3, Kai-Yuan Cai1
1 School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, People's Republic of China
2 School of Computer and Information Engineering, Beijing Technology and Business University, No. 11/33 Fucheng Road, Haidian District, Beijing 100048, People's Republic of China
3 Department of Electrical and Computer Engineering, University of Toronto, Toronto, ON M5S 3G4, Canada
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摘要： 本文针对多旋翼飞行器在飞行前和飞行中出现的不良故障，为飞行器半自主控制模式提出了一种基于监督控制理论（SCT）的故障安全机制设计方法。故障安全机制是一种通过综合来自制导、姿态控制、诊断和其他底层子系统的实时信息，提供多旋翼飞行器后续动作的控制逻辑。为了设计多旋翼飞行器故障安全机制，本文介绍了多旋翼飞行器存在的安全问题。随后，本文详细描述了包括功能需求和安全需求两方面的用户需求，其中功能需求指建立被控对象多旋翼飞行器的通用模型，而安全需求涵盖了处理上述安全问题的故障安全措施。根据这些要求，本文定义了几种多旋翼飞行器模式和事件。在此基础上，通过自动机对被控对象多旋翼飞行器和控制指标进行建模。然后，利用监督控制理论构建一个监督器。此外，作者展示了三个例子来说明由于控制指标设计不当而可能出现的冲突现象。最后，基于所得到的监督器，本文提出了一种适用于多旋翼飞行器的实现方法。在该方法中，监督器被转化为了决策代码。
Abstract: In order to handle undesirable failures of a multicopter, which occurs in either the pre-flight process or the in-flight process, a failsafe mechanism design method based on supervisory control theory (SCT) is proposed for the semi-autonomous control mode. The failsafe mechanism is a control logic that guides what subsequent actions the multicopter should take, by taking account of real-time information from guidance, attitude control, diagnosis and other low-level subsystems. In order to design a failsafe mechanism for the multicopters, safety issues of the multicopters are introduced. Then, user requirements including functional requirements and safety requirements are textually described, where functional requirements guide the modelling of a general multicopter plant, and safety requirements cover the failsafe measures dealing with the presented safety issues. Based on these requirements, several multicopter modes and events are defined. On this basis, the multicopter plant and control specifications are modelled by automata. Then, a supervisor is synthesized by using SCT. In addition, the authors present three examples to demonstrate the potential conflicting phenomena due to the inappropriate design of control specifications. Finally, based on the obtained supervisor, an implementation method suitable for multicopters is presented, in which the supervisor is transformed into decision-making codes.
收稿日期: 2019-11-03 出版日期: 2020-04-03
通讯作者: Quan Quan     E-mail: qq_buaa@buaa.edu.cn
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Quan Quan
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Liyong Lin
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Walter Murray Wonham
Kai-Yuan Cai

引用本文:

Quan Quan, Zhiyao Zhao, Liyong Lin, Peng Wang, Walter Murray Wonham, Kai-Yuan Cai. Failsafe mechanism design of multicopters based on supervisory control theory. IET Cyber-Systems and Robotics, 2020, 2(1): 31-42.

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http://www.zjujournals.com/iet-csr/CN/10.1049/iet-csr.2019.0039    或    http://www.zjujournals.com/iet-csr/CN/Y2020/V2/I1/31

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