Device and method for the residual analysis of a residuum to detect system errors in the system behaviour of a system of an aircraft
First Claim
1. An apparatus for generating a residuum for detecting erroneous transients, drift or oscillations in behavior of a system of an aircraft, the apparatus comprising:
- a computer comprising at least one hardware processor configured to execute a plurality of computing functions, wherein;
a first computing function executed by the processor comprises a system model for reproducing a system of an aircraft to be monitored, which system receives a reference variable, an observer feedback variable and a disturbance model variable as inputs, and outputs, as a function thereof, an estimated system output variable;
a second computing function executed by the processor forms a residuum from a difference between a monitored system output variable of the system and the estimated system output variable;
a third computing function executed by the processor comprises an observer feedback, which receives the residuum as an input, and outputs, as a function thereof, the observer feedback variable for dynamic correction of the system model, in such a way that the estimated system output variable follows the monitored system output variable; and
a fourth computing function executed by the processor comprises a disturbance model, which receives the residuum as an input, and outputs, as a function thereof, the disturbance model variable for reproducing effects of external disturbances on the system model, the disturbance model variable being formed as a dynamic disturbance model variable which is formed using a linear combination of a tuning matrix, an integrator and a disturbance variable matrix, the tuning matrix receiving the residuum as an input, and the disturbance variable matrix outputting the disturbance model variable.
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Abstract
The present invention provides a device and a method for the residual analysis of a residuum to detect system errors in the system behavior of an aircraft. The device for the residual analysis of a residuum comprises an apparatus to generate the residuum at least dependent on the reference variable and the system output variable, a comparator unit to provide an analytical result by comparing the residuum to a given threshold, a first unit to provide a constant threshold portion, a second unit to provide an adaptive threshold portion at least dependent on the reference value, which can change over time, and a third unit to provide the threshold by linking the constant threshold portion to the adaptive threshold portion.
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Citations
23 Claims
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1. An apparatus for generating a residuum for detecting erroneous transients, drift or oscillations in behavior of a system of an aircraft, the apparatus comprising:
a computer comprising at least one hardware processor configured to execute a plurality of computing functions, wherein; a first computing function executed by the processor comprises a system model for reproducing a system of an aircraft to be monitored, which system receives a reference variable, an observer feedback variable and a disturbance model variable as inputs, and outputs, as a function thereof, an estimated system output variable; a second computing function executed by the processor forms a residuum from a difference between a monitored system output variable of the system and the estimated system output variable; a third computing function executed by the processor comprises an observer feedback, which receives the residuum as an input, and outputs, as a function thereof, the observer feedback variable for dynamic correction of the system model, in such a way that the estimated system output variable follows the monitored system output variable; and a fourth computing function executed by the processor comprises a disturbance model, which receives the residuum as an input, and outputs, as a function thereof, the disturbance model variable for reproducing effects of external disturbances on the system model, the disturbance model variable being formed as a dynamic disturbance model variable which is formed using a linear combination of a tuning matrix, an integrator and a disturbance variable matrix, the tuning matrix receiving the residuum as an input, and the disturbance variable matrix outputting the disturbance model variable. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method for generating a residuum for detecting erroneous transients, drift or oscillations in the behavior of a system of an aircraft, which system receives a reference default and a disturbance variable, which reproduces external disturbances, as inputs, and outputs a system output variable, having steps of:
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a) providing a system model for reproducing the system to be monitored, which receives the reference variable, an observer feedback variable and a disturbance model variable as inputs, and outputs, as a function thereof, an estimated system output variable; b) forming a residuum from a difference between the system output variable and the estimated system output variable; c) providing an observer feedback, which receives the residuum as an input, and outputs, as a function thereof, the observer feedback variable for dynamic correction of the system model, in such a way that the estimated system output variable follows the system output variable; and d) providing a disturbance model, which receives the residuum as an input, and outputs, as a function thereof, the disturbance model variable for reproducing effects of the external disturbances on the system model, wherein the disturbance model variable comprising a dynamic disturbance model variable which is formed using a linear combination of a tuning matrix, an integrator and a disturbance variable matrix, the tuning matrix receiving the residuum as an input, and the disturbance variable matrix outputting the disturbance model variable. - View Dependent Claims (9, 10)
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11. A device for the residual analysis of a residuum to detect system errors of a system which receives a temporally variable reference value and a disturbance variable, which represents external disturbances, as inputs, and outputs a system output variable, comprising:
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a) an apparatus for generating the residuum at least as a function of reference variable and the system output variable; b) a comparator unit for providing an analysis result by comparing the residuum (r) with a provided threshold(s); c) a first unit for providing a constant threshold component; d) a second unit for providing an adaptive threshold component at least as a function of the temporally variable reference value; and e) a third unit for providing the threshold by linking the constant threshold component to the adaptive threshold component, wherein the apparatus for generating the residuum comprises; a first means comprising a system model for reproducing the system to be monitored, which receives the reference variable, an observer feedback variable and a disturbance model variable as inputs, and outputs, as a function thereof, an estimated system output variable; a second means for forming a residuum from a difference between the system output variable and the estimated system output variable; a third means comprising an observer feedback, which receives the residuum as an input, and outputs, as a function thereof, the observer feedback variable for dynamic correction of the system model, in such a way that the estimated system output variable follows the system output variable; and a fourth means comprising a disturbance model, which receives the residuum as an input, and outputs, as a function thereof, the disturbance model variable for reproducing effects of the external disturbances on the system model, the disturbance model variable being formed as a dynamic disturbance model variable which is formed using a linear combination of a tuning matrix, an integrator, and a disturbance variable matrix, the tuning matrix receiving the residuum as an input, and the disturbance variable matrix outputting the disturbance model variable. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22)
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23. A method for residual analysis of a residuum for detecting system errors in behavior of a system which receives a temporally variable reference value and a disturbance variable, which reproduces external disturbances, as inputs, and outputs a system output variable, the method having steps of:
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a) generating a residuum at least as a function of a reference variable and the system output variable; b) providing a constant threshold component; c) providing an adaptive threshold component at least as a function of the temporally variable reference value; and d) providing a threshold by linking the constant threshold component to the adaptive threshold component; and e) comparing the residuum with the provided threshold to provide an analysis result, wherein generating a residuum comprises; providing a system model for reproducing the system to be monitored, which receives the reference variable, an observer feedback variable and a disturbance model variable as inputs, and outputs, as a function thereof, an estimated system output variable; forming a residuum from difference between the system output variable and the estimated system output variable; providing an observer feedback, which receives the residuum as an input, and outputs, as a function thereof, the observer feedback variable for dynamic correction of the system model, in such a way that the estimated system output variable follows the system output variable; and providing a disturbance model, which receives the residuum as an input, and outputs, as a function thereof, the disturbance model variable for reproducing effects of the external disturbances on the system model, wherein the disturbance model variable comprises a dynamic disturbance model variable which is formed using a linear combination of a tuning matrix, an integrator and a disturbance variable matrix, the tuning matrix receiving the residuum as an input, and the disturbance variable matrix outputting the disturbance model variable.
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Specification