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针对低成本的微小型无人直升机(MUH)传感器性能不稳定,容易出现故障的缺陷,提出了一种基于相位差和小波包分析相结合的故障诊断方法。根据MUH传感器输出信号的特点,建立了基于相位差的故障诊断模型,利用相关分析法估计相位差进行故障检测,采用小波阈值法对采样信号进行预处理,以提高相位差的估计精度,运用小波包分析进行故障分离。结合实验数据进行仿真,结果表明该方法是一种行之有效的MUH传感器故障诊断方法,已成功应用在某微小型无人直升机的飞行实验中。
Aiming at the defect that the performance of MUH sensor with low cost is unstable and prone to failure, a fault diagnosis method based on phase difference and wavelet packet analysis is proposed. According to the characteristics of the output signal of MUH sensor, a fault diagnosis model based on phase difference is established, and the correlation analysis is used to estimate the phase difference for fault detection. The wavelet threshold method is used to preprocess the sampling signal to improve the phase difference estimation accuracy. Packet analysis of fault separation. The simulation results show that the proposed method is an effective fault diagnosis method for MUH sensor and has been successfully used in the flight experiments of a small unmanned helicopter.