ENG5031 Simulate a 20/-20 zig-zag manoeuvre where changes in heading can be observed.

ENG5031 Fault Detection, Isolation and Recovery - University of Glasgow

Assignment: Fault Detection and Isolation for Heading Motion of an UAV

Problem Specification
The following stages are expected to be performed in this assignment:

Question 1. Construct a continuous time simulation of the Lateral Dynamics of the UAV using zero initial conditions i.e. assuming UAV is flying level with initial heading of zero.

Question 2. (a) Simulate a 20/-20 zig-zag manoeuvre where changes in heading can be observed.

(b) Simulate separate stepwise and driftwise faults in the heading channel during a 20/-20 zig-zag manoeuvre.

(c) Employ suitable fault detection and isolation mechanisms to determine when and where these faults occur during the open-loop 20/-20 zig-zag manoeuvre.

Question 3.(a) After completing steps 1-4, remove the faults from your simulation and design a closed-loop heading flight controller for this UAV.

(b) Simulate separate stepwise and driftwise faults in the heading channel during a 50 controlled heading manoeuvre.

(c) Employ suitable fault detection and isolation mechanisms to determine when and where these faults occur during the closed-loop 50 heading manoeuvre.

(d) Investigate the operation of the FDI systems you have developed (both open and closed loop) with simulated white noise of amplitude 15 degrees included in the heading output.

Question 4.Develop suitable recovery procedures for both zig-zag and closed loop operations of this UAV.

Question 5.Write a report outlining how your overall FDIR addressed the specifications provided in 1 to 4 above. This will be used to assess your work for this assignment.