Vertical take-off and landing airplane robust fault-tolerant control system and method based on cascaded observers

A technology for vertical take-off and landing aircraft and fault-tolerant control, which is applied in the field of aircraft control and can solve problems such as failure of actuators that are not considered

Inactive Publication Date: 2014-06-04
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

Aiming at the influence of interference in flight, some scholars have designed corresponding interference observers to offset the influence of interference, improve the chattering problem of sliding mode control, and realize high-precision trajectory tracking control and attitude control, but they have not considered the simultaneous existence of Actuator failure problem

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  • Vertical take-off and landing airplane robust fault-tolerant control system and method based on cascaded observers
  • Vertical take-off and landing airplane robust fault-tolerant control system and method based on cascaded observers
  • Vertical take-off and landing airplane robust fault-tolerant control system and method based on cascaded observers

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Embodiment Construction

[0064] Below in conjunction with accompanying drawing, the technical scheme of invention is described in detail:

[0065] The force analysis of the aircraft is shown in Figure 1(a), considering the fault of the thrust input channel actuator and the existence of external disturbances, in order to enable the vertical take-off and landing aircraft to track the specified reference command and maintain a stable attitude, by establishing a cascade of observations The real-time estimation of the fault and disturbance information by the controller system, and then use the estimated disturbance, fault and state information to design a fault-tolerant controller, so that the affected aircraft can complete the trajectory tracking task as much as possible and maintain a stable attitude. In the specific implementation, the simulation and verification of the proposed fault-tolerant control method are realized with the help of the Simulink toolbox in MATLAB.

[0066] The present invention pro...

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Abstract

The invention discloses a vertical take-off and landing airplane robust fault-tolerant control system and method based on cascaded observers, and belongs to the technical field of aircraft control. A vertical take-off and landing airplane dynamical model taking external disturbance and actuator faults into consideration is built, the dynamical model is converted into a non-linear model in a standard form, the disturbance, the faults and state variables are estimated in real time by using the disturbance observer and the fault diagnosis observer which is in cascade connection with the disturbance observer, the non-linear model is decoupled into two subsystems, the control rate of each subsystem is determined, and the fault-tolerant control rate is determined according to the control rates and fault estimation values of the two subsystems. Under the action of a fault-tolerant controller, the system taking effects of the external disturbance and the faults into consideration compensates for the faults and the disturbance in real time, influence of the faults and the disturbance is reduced rapidly, and robustness of the control system is improved.

Description

technical field [0001] The invention discloses a cascade observer-based robust fault-tolerant control system and method for a vertical take-off and landing aircraft, belonging to the technical field of aircraft control. Background technique [0002] Vertical take-off and landing aircraft is a new type of aircraft that not only has the advantages of vertical take-off and landing and hovering of helicopters, but also has the advantages of high-speed level flight and maneuvering of fixed-wing aircraft. It is a typical underactuated nonlinear system with three degrees of freedom and two control inputs. In recent years, due to its huge application value, especially military application value, it has attracted the attention and research of relevant scholars in many countries. [0003] Due to the characteristics of underactuation, strong coupling and nonlinearity of vertical take-off and landing aircraft, in actual flight, the attitude of the aircraft will inevitably be affected b...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
Inventor 杨浩姜斌蒋元庆
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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