本書主要介紹自愈合控制概念的起源與研究現狀，著重描述飛行控制系統的自愈合控制的新方法。針對三自由度雙旋翼直升機，以狀態觀測器技術為基礎研究了三自由度雙旋翼直升機在發生執行器故障時的故障診斷方法，為自愈合控制策略設計提供準確的故障診斷結果；針對發生驅動器故障的四旋翼直升機，基于自適應控制理論，介紹了三種針對四旋翼直升機的自愈合控制方法；針對飛行器發生多故障情形，介紹了三種多故障自愈合控制設計方法。數字仿真及半物理仿真結果表明，這些研究結果可增強機載控制自愈合性，從而保證航空器在故障和損傷等惡劣條件下的安全飛行。
前 言
功能自愈合是指系統在出現由多重故障和結構損傷導致的大幅度參數變化和結構不確定的情況下，通過自身的自動調節而恢復并保持理想的系統特性。功能自愈合的實現需要更高效的故障診斷和容錯控制技術。
美國國家航空航天局（NASA）統計數據顯示，在126 起飛機失控事故中，94%事故由不利機載條件引起；其中，由系統故障、損傷和錯誤引起的事故占45%。2007年，NASA 開啟了名為Integrated Resilient Aircraft Control（綜合自愈合飛行控制）的研究計劃，以增強飛控系統的自愈合能力。2009 年，美國愛達荷國家實驗室的Rieger等人首次提出了自愈合控制的概念。NASA 蘭利研究中心考慮航空器中的失控事故，解決了非正常飛行條件下安全關鍵自愈合飛行控制系統的設計問題；麻省理工學院與NASA 蘭利研究中心合作，針對通用運輸機模型，研究其模型重心不確定和時延故障情況下的自愈合控制技術；NASA 德萊頓飛行研究中心將有關測試飛機（改進的F/A-18A）用于自愈合控制技術研究的飛行測試。
2012 年，美國國家科學基金會開啟了名為Failure-Resistant Systems（故障自愈合系統）的研究計劃，旨在把自愈合控制系統的概念進一步推廣。我國十二五十三五規劃明確把這個航空航天重大科學問題列入有關科學技術發展部分，以推動故障診斷和容錯控制技術的研究。本書是沿著這一重要戰略研究方向完成的。
本書主要內容包括高超聲速飛行器、雙旋翼直升機、四旋翼直升機的故障診斷方法及自愈合控制方法。主要介紹了多故障魯棒自適應控制、融合前饋補償和直接自適應控制、組合多模型、H 故障觀測器、反步控制和干擾觀測器結合、魯棒反步滑模控制等在自愈合控制研究中的嘗試。本書可為讀者研究探索自愈合控制提供參考，希望本書的研究結果能為促進自愈合控制技術的發展，起到拋磚引玉的作用。
本書由南京航空航天大學陳復揚教授與南京郵電大學王瑾博士共同完成，陳復揚、王瑾負責內容設計、組織安排編寫。前言、第1~5 章由陳復揚編寫，第6~10 章由王瑾編寫，全書由陳復揚、王瑾共同統稿及排版。研究生張世俊、吳慶波、王正、張康康等也為本書的出版貢獻了自己的聰明才智，在此一并表示誠摯的謝意。
由于水平和經驗所限，書中難免存在錯誤和不足之處，懇請廣大讀者不吝指正。
編者E-mail：chenfuyang@nuaa.edu.cn
編 者
中國南京
2017 年7 月
陳復揚，江蘇揚州人，工學博士，教授，博士生導師�，F為南京航空航天大學自動化學院黨委委員、自動控制系教工黨支部書記，長期從事自適應控制、故障診斷與容錯控制、自修復控制、自愈合控制、飛行控制、物聯網與控制技術、量子信息與控制理論、高鐵信息控制系統的故障診斷、道路交通管理控制等方面的科學研究�，F為中國兵工學會自動控制專業委員會委員、江蘇省暨南京市航空航天學會自動控制專業委員會委員。近年來主持國家自然科學基金面上項目2項、航空科學基金1項；獲中國航空學會科學技術獎1項、出版專著3部、以第1作者發表學術論文60余篇( SCI收錄30篇)、申請發明專利20項。長期從事《自動控制原理》《自適應控制》《自適應控制與歌唱藝術》課程教學，主持校級教改項目6項、獲江蘇省教學成果二等獎1項、主編出版教材6部、發表教改論文10篇。
第1 章 緒論 ················································································································ 1
1.1 自愈合控制的研究背景 ··························································································· 1
1.2 國內外研究現狀 ······································································································· 2
1.3 最新研究成果 ·········································································································· 6
第2 章 基于觀測器設計的雙旋翼直升機故障診斷方法 ····················································· 9
2.1 引言 ····················································································································· 9
2.2 雙旋翼直升機控制系統建模及半物理仿真平臺 ·················································· 10
2.2.1 縱列式雙旋翼直升機 ················································································· 10
2.2.2 雙旋翼直升機半物理仿真平臺·································································· 13
2.3 基于自適應觀測器的多執行器卡死故障診斷 ······················································ 22
2.3.1 執行器卡死故障系統描述 ········································································· 22
2.3.2 魯棒快速自適應故障估計方法·································································· 23
2.3.3 多模型故障診斷方法 ················································································· 26
2.3.4 仿真與分析 ································································································ 29
2.4 基于自適應滑模觀測器的執行器時變故障診斷 ·················································· 34
2.4.1 系統描述 ···································································································· 35
2.4.2 基于自適應滑模觀測器的故障診斷方法 ·················································· 36
2.4.3 仿真與分析 ································································································ 39
2.5 相對階大于1 的非線性系統執行器故障診斷 ······················································ 44
2.5.1 微分幾何基本知識 ····················································································· 44
2.5.2 三自由度雙旋翼直升機非線性模型分析 ·················································· 45
2.5.3 基于構造輔助輸出的執行器故障診斷 ······················································ 46
2.5.4 仿真分析 ···································································································· 50
2.6 本章小結 ················································································································ 53
第3 章 基于自適應控制的雙旋翼直升機多故障自愈合控制 ··········································· 54
3.1 引言 ····················································································································· 54
3.2 三自由度雙旋翼直升機改進模型 ········································································· 55
3.3 基于自適應控制的多故障自愈合控制器設計 ······················································ 58
3.4 仿真驗證及結果分析 ····························································································· 60
3.5 本章小結 ················································································································ 63
第4 章 含有未知參數的四旋翼直升機多故障自愈合控制 ··············································· 64
4.1 引言 ··················································································································· 64
4.2 四旋翼直升機動力學模型 ····················································································· 66
4.3 聯級控制系統基本控制器設計 ············································································· 67
4.4 針對執行器部分失效故障的滑模自愈合控制器設計 ·········································· 71
4.5 針對未知參數的自適應容錯控制器設計 ······························································ 75
4.6 各控制器間的時間尺度分析 ················································································· 77
4.7 仿真驗證及結果分析 ····························································································· 78
4.8 本章小結 ················································································································ 84
第5 章 基于前饋補償和直接自適應的四旋翼直升機自愈合控制 ··································· 85
5.1 引言 ···················································································································· 85
5.2 四旋翼直升機控制系統與
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