关键词: 微小型无人直升机, 小波阈值去噪, 相关分析法, 相位差, 小波包分析, 故障诊断

Abstract: Aiming at the defect that the low cost Mini Unmanned Helicopter（MUH） sensors easily fail due to poor stability, a method of fault diagnosis based on phase difference and wavelet packet analysis is proposed. A model of fault diagnosis based on phase difference according to the signal characteristic of MUH sensors is introduced. The estimated phase difference is used to detect faults by correlation analysis. The wavelet threshold denoising method is adopted to process the sampled signals to improve the estimate accuracy of phase difference, and the wavelet packet analysis is applied to isolating the faults. A simulation based on the experimental data is conducted, and the result shows that the method is feasible and effective for MUH sensors fault diagnosis, and the proposed method has been successfully applied in the MUH flight experiments.

Key words: Mini Unmanned Helicopter（MUH）, wavelet threshold denoising, correlation analysis, phase difference, wavelet packet analysis, fault diagnosis