基于数字孪生的飞机起落架健康管理技术

doi:10.7527/S1000-6893.2022.27629

Abstract

Abstract:

Traditional health management methods for aircraft landing gear systems face the problems of inadequate knowledge， unbalanced data， and rigidified models. This paper explores the application of the digital twin-driven health management technology， and proposes a digital twin health management framework based on self-updating models to reliably complete diagnostic and prediction tasks. The digital twin model is established from physical and behavior dimensions to realize the digital mapping of real systems. The reinforcement learning algorithm is used to update the parameters of the digital twin model to ensure real-time tracking and reflection of the entity health status by the twin model. Further， event-based fault diagnosis and particle filter scheme-based fault prediction are designed. In the validation experiment with the retraction/extension as an example， our method exhibits better performance in terms of real-time， accuracy and robustness than traditional methods.

Key words: landing gear, digital twin, health management, event-based fault diagnosis, model tracking, fault prediction

CLC Number:

Chenghao GUO, Jinsong YU, Yue SONG, Qi YIN, Jiaxuan LI. Application of digital twin⁃based aircraft landing gear health management technology[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023, 44(11): 227629.

Figures/Tables 24

Fig. 1

Fig. 2

Algorithm 1 Reinforcement learning AC algorithm

算法强化学习AC算法

输入：学习率等超参数

输出：网络结构与控制策略 $π$

1. $f o r e a c h i t e r a t i o n d o :$

2. $S a m p l e s 0 a c c o r d i n g t o ρ$

3. $f o r e a c h t i m e s t e p d o :$

4. $S a m p l e a t f r o m π s a n d s t e p f o r w a r d$

5. $O b s e r v e s t + 1, π t$

6. $S t o r e s t, a t, r t, s t + 1 i n D M$

7. $e n d f o r$

8. $f o r e a c h u p d a t e s t e p d o :$

9. $S a m p l e m i n i b a t c h e s o f t r a n s i t i o n s f r o m D M$

10. $U p d a t e π w i t h g r a d i e n t s$

11. $U p d a t e n e t w o r k s w i t h s o f t r e p l a c e m e n t$

12. $e n d f o r$

13. $e n d f o r$

Fig. 3

Table 1

Landing gear retraction system failure event signature

故障	$q p$	$p p u m p$	$p 1$	$F i n f l o w 1$	$v$	$x$	信号优先级（Measurement Orderings）
泵泄漏	$+ 0$	$- -$	$- 0$	$- -$	$- 0$	$- -$	$p p u m p < q p$
作动筒泄漏	$+ +$	$- -$	$- +$	$- +$	$+ 0$	$+ -$	$F i n f l o w 1 < v < x, p 1$
节流阀阻塞	$- 0$	$- +$	$+ 0$	$- 0$	$- 0$	$- -$
油滤污染	$+ -$	$- -$	$- 0$	$- 0$	$+ -$	$- 0$
作动筒磨损	$00$	$00$	$+ 0$	$- 0$	$+ -$	$- 0$	$F i n f l o w 1 < v < x, p 1$

Table 1

Fig. 4

Algorithm 2 Fuzzy matching fault isolation algorithm based on levenshtein distance

算法基于编辑距离的模糊匹配故障隔离算法

输入：系统响应特征向量 $V m e a s u r e = S f + M O$

故障事件信号特征向量 $V s i g n a t u r e = S f + M O$

输出：模糊匹配近似度 $f u z z y m a t c h i n g s c o r e s$

1. $n = l e n V m e a s u r e$ ， $m = l e n V s i g n a t u r e$

2. $i n i t i a l i z e m a t r i x D m × n$

3. $t e m p = 0 V m e a s u r e i = = V s i g n a t u r e 1 其他$

4. $i n s e r t : D i - 1 . j + 1$

5. $d e l e t e : D i . j - 1 + 1$

6. $s w a p : D i - 1 . j - 1 + t e m p$

7. $f o r i, j i n D :$

8. $D i, j = m i n i n s e r t, d e l e t e, s w a p$

9. $D i s t a n c e = d n m$

10. $f u z z y m a t c h i n g s c o r e s = 1 - D i s t a n c e m a x n, m$

Fig. 5

Algorithm 3 Sampling importance resampling

算法重要性重采样（SIR）

1. 输入： ${(x k - 1 i, θ k - 1 i), ω k - 1 i} i = 1 N, u k - 1 : k, y k$

2. 输出： ${(x k j, θ k j), ω k j} i = 1 N$

3. 初始状态随机游走，分配粒子权重

$f o r i i n 1, N :$

$θ k i = θ k - 1 i + ξ k - 1 i, ξ k - 1 i ∼ N μ, σ 2$

$x k i = p f x k - 1 i, θ k - 1 i, u k - 1$

$ω k i = p h x k i, θ k i, u k$

$e n d f o r$

$n o r m a l i z e ω k i$

4. 旧粒子集中重采样得到新粒子集

$i ← 1$

$u 1 ~ U C D F (0,1 / N)$

$f o r j i n 1, N :$

$u ← u 1 + (j + 1) / N$

$w h i l e u > C D F i d o :$

$i ← i + 1$

$e n d w h i l e$

$x k j, θ k j, ω k j ← x k i, θ k j, 1 N$

$e n d f o r$

Fig. 6

Table 2

Fig. 7

Fig. 8

Fig. 9

Table 3

Fig. 10

Table 4

Network hyperparameter settings

超参数	数值
批尺寸（Batch Size）	256
Actor网络学习率（Learning Rate）/10^-4	2
Critic网络学习率（Learning Rate）/10^-4	2
折扣因子 $γ$	0.995
衰减率（网络软更新）/10^-3	1~5

Table 4

Fig. 11

Fig. 12

Fig. 13

Table 5

Model tracking algorithm comparison

算法

准确性

实时性

鲁棒性

RMSE/（10⁵

L ⋅ m i n - 1 ⋅ P a - 1

）

训练速度/s

部署速度/（10^-3 s）

在60 dB信噪比下的RMSE

/（10⁵ $L ⋅ m i n - 1 ⋅ P a - 1$ ）

0.167

24 000

1.37

0.204

DNN

0.243

100

1.68

0.276

Table 5

Fig. 14

Table 6

Prediction algorithm experiment results

粒子数	随机游走方差相乘系数	RMSE_ $x a 1 / m$	RMSE_ $F i n f l o w_a 1 /$ （L·min^-1）
100	1	2.17×10^-2	0.922
100	10	3.48×10^-2	1.050
1 000	1	5.81×10^-3	0.721
1 000	10	2.31×10^-2	1.540

Table 6

Fig. 15

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元件模型	参数	数值
液压马达	轴转速/（r·min^-1）	5 000
油滤	孔径/mm	6
	临界流数	2 320
	最大流量系数	0.7
上位锁	活塞直径/mm	25
	活塞杆直径/mm	12
	活塞行程/mm	55
主起收放作动筒	活塞直径/mm	85.55
	活塞杆直径/mm	36.449
	活塞行程/mm	219.4
	运动部件等效质量/kg	2.8
溢流阀	阀开启压力/MPa	21
溢流阀	阀流量压力梯度/（L·min^-1·MPa^-1）	200

故障模式	多信号流图		因果图
故障模式	故障候选集	推理时间/s	故障候选集	置信度分数	推理时间/s
作动筒泄漏	｛作动筒泄漏，油滤污染｝	0.07	｛作动筒泄漏，泵泄漏｝	｛88，86｝	0.001
节流阀堵塞	｛节流阀堵塞，作动筒磨损｝	0.03	｛节流阀堵塞｝	｛91｝	0.001

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Application of digital twin⁃based aircraft landing gear health management technology

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