Four-rotor aircraft fault-tolerant control method

A four-rotor aircraft, fault-tolerant control technology, applied in the direction of attitude control, adaptive control, general control system, etc., can solve the problems of difficult fault diagnosis and identification of actuators, regardless of the dynamic model of actuators, etc., to improve flight reliability and safety, reducing the probability of crashes, and the effect of simple algorithm structure

Inactive Publication Date: 2013-06-05
安徽啄木鸟智能科技有限公司
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AI Technical Summary

Problems solved by technology

It is very difficult to design actuator fault diagnosis and identification, but if the actuator dynamic model is not considered in the design of an aircraft fault diagnosis and identification process, it may encounter obstacles in the subsequent hardware-in-the-loop simulation and flight test

Method used

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Embodiment Construction

[0030] The fault-tolerant control realization principle of the quadrotor aircraft fault-tolerant control method of the present invention is as follows: figure 1 As shown, the method mainly includes the following steps:

[0031] Step 1: According to the mathematical model of the quadrotor aircraft, establish the attitude model of the aircraft under the condition of system failure;

[0032] Step 2: According to the attitude model described in step 1, deduce the adaptive law of aircraft system fault estimation;

[0033] Step 3: According to the attitude model described in step 1, establish the transfer function of the aircraft actuator (motor) failure fault;

[0034] Step 4: According to the transfer function described in step 3, obtain the adaptive law of aircraft actuator failure fault estimation;

[0035] Step 5: According to the attitude model described in step 1 and the transfer function described in step 3, set up the composite failure attitude model of aircraft with syst...

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Abstract

The invention discloses a four-rotor aircraft fault-tolerant control method and belongs to the field of aerocraft control. According to the method, first, based on a mathematical model of an aircraft, an attitude model under the condition of system faults of the aircraft is established; then, according to the attitude model, an adaptive law of fault estimation of an aircraft system is brought out, and a transfer function of loss of actuator effectiveness of the aircraft is also established; an adaptive law of fault estimation of loss of actuator effectiveness is put forward based on the loss of actuator effectiveness; and at last, based on the fault estimation of the system and the fault estimation of loss of actuator effectiveness, a fault-tolerant controller of an aircraft attitude system is designed. Thus, fault-tolerant control of four-rotor aircrafts is realized. By means of the method, probability of air crashes of four-rotor aircrafts is remarkably reduced, and flying reliability and safety of aircrafts are improved.

Description

technical field [0001] The invention relates to a fault-tolerant control method of a quadrotor aircraft, which belongs to the field of aviation aircraft control. Background technique [0002] The micro-quadrotor aircraft with vertical take-off and landing, stable hovering and autonomous cruising capabilities has broad application prospects in military and civil fields, and can be widely used in aerial photography, power inspections, environmental monitoring, forest fire prevention, disaster inspections, Anti-terrorism lifesaving, military reconnaissance, battlefield assessment and other fields. The aircraft is generally driven by electric energy, and has the characteristics of simple structure, stable flight, easy control, low noise, no pollution, easy to carry, and little safety hazard. It is very suitable for performing short-to-medium distance flight missions. [0003] The volume of quadrotor aircraft is generally positioned in a small size, and the airborne resources ar...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08G05B13/04
Inventor 杨忠杨成顺李少斌黄宵宁王世勇陈阳梁焜徐华东
Owner 安徽啄木鸟智能科技有限公司
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