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论文:2018,Vol:36,Issue(4):748-753 |
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引用本文： |
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邢小军, 陈潇然, 黄龙亮, 范东生. 面向执行机构故障的四旋翼无人机主动容错飞行控制方法研究[J]. 西北工业大学学报 |
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Xing Xiaojun, Chen Xiaoran, Huang Longliang, Fan Dongsheng. Study on Active Fault Tolerant Flight Control Systems for Quadrotor UAV with Actuator Failures[J]. Northwestern polytechnical university |
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| 面向执行机构故障的四旋翼无人机主动容错飞行控制方法研究 |
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| 邢小军, 陈潇然, 黄龙亮, 范东生 |
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| 西北工业大学 自动化学院, 陕西 西安 710072 |
| 摘要: |
| 四旋翼无人机在执行高负荷、长航时任务时，桨叶的疲劳断裂易导致无人机失控甚至坠毁。针对这一问题，提出了一种基于积分滑模控制的四旋翼无人机主动容错飞行控制方法。首先通过运动学和动力学分析建立了执行机构故障时无人机的非线性模型，再构造观测器对执行机构故障进行实时观测，并据此设计积分滑模控制律对无人机的位置和姿态控制回路进行补偿。数字仿真和飞行实验结果均表明所给出的方法具有较强的容错能力，在单只桨叶部分断裂的情况下，该方法可有效地实现无人机的位置和姿态稳定并具有良好的动、静态特性。 |
| 关键词:
四旋翼无人机
执行机构故障
滑模控制
容错控制
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| Study on Active Fault Tolerant Flight Control Systems for Quadrotor UAV with Actuator Failures |
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| Xing Xiaojun, Chen Xiaoran, Huang Longliang, Fan Dongsheng |
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| School of Automation, Northwestern Polytechnical University, Xi'an 710072, China |
| Abstract: |
| The rotor blades' fatigue fracture of Quadrotor UAV easily causes the instability or even crash of the UAV due to high-load and long-endurance flight missions. Under this circumstances, an active fault-tolerant flight controller of Quadrotor UAV based on integral sliding mode is proposed to strengthen the fault-tolerant capability of UAV's attitude and position. First of all, nonlinear mathematical model of quadrotor UAV with actuator failures is derived by kinematics and dynamics analysis. Secondly, a fault observer is constructed to determine when the actuator failure will occur, subsequently the UAV's attitude and position flight controllers are compensated using integral sliding mode control. The digital simulation and flight test shows that the controller has powerful fault-tolerant capacity and preferable dynamic and static characteristics which can stabilize the attitude and position responses of UAV when partial failure of single blade occurs. |
| Key words:
controllers
design of experiments
fault tolerance
MATLAB
unmanned aerial vehicles(UAV)
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| 收稿日期: 2017-04-24
修回日期:
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| DOI: |
| 基金项目: 国家自然科学基金（61771399，61473229）及航天科学技术基金（2017-HT-XG）资助 |
| 通讯作者:
Email： |
| 作者简介: 邢小军(1976-),西北工业大学副教授,主要从事鲁棒控制、飞行控制、计算智能理论及应用研究。
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参考文献: |
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