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为有效解决无人机冗余控制结构设计复杂,成本高的问题,提出一种非相似三余度控制系统;重点描述了系统的故障自检测方法,控制模块故障的自隔离方法,控制模块之间的表决方式,通过马尔科夫链故障分析方法验证了设计的可靠性。
In order to effectively solve the problem of complex design and high cost of redundant control structure of UAV, a non-similar three redundancy control system is proposed. The fault self-detection method of the system, self-isolation method of control module failure, Between the vote, verify the reliability of the design by Markov chain failure analysis method.