Dynamic control reallocation based unmanned aerial vehicle attitude fault-tolerance control method

An unmanned aerial vehicle, redistribution technology, applied in the direction of attitude control, etc., can solve the problems of enhanced coupling degree of control surface

CN104035447AInactive Publication Date: 2014-09-10JINLING INST OF TECH
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
Publication Date
2014-09-10
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention relates to a dynamic control reallocation based unmanned aerial vehicle attitude fault-tolerance control method. According to the method, dynamic inversion control is adopted, an attitude angle rate loop dynamic equation corresponding to a near-space vehicle is given firstly, further a control surface stuck and damage model is established, then an adaptive sliding mode observer is designed according to the control surface stuck and damage model of an attitude angle rate loop, the attitude angle rate loop and a designed observer dynamic equation are simultaneous, an angle loop controller and an angle rate loop controller are designed, a designed fault-tolerance control system does not need accurate damage information, interference information and the like which are all implied in the designed adaptive sliding mode observer, the implicit information is fed back to a pseudocontrol control law and an online reallocation algorithm LMI in real time so as to realize robust fault-tolerance control, the designed method is applied to attitude stabilization control and tracking control of the near-space vehicle under the condition of control surface faults, and flight attitude robust fault-tolerance control is realized.
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Description

technical field

[0001] The invention relates to the field of aircraft attitude fault-tolerant control, in particular to an unmanned aircraft attitude fault-tolerant control method based on dynamic control redistribution. Background technique

[0002] In terms of aerodynamic layout design of modern aircraft, traditional ailerons, rudders, and elevators have been reasonably divided, and more new control surfaces have been added, such as pitch flaps, full-motion wingtips, elevons, canards, etc. This can greatly improve the reliability and security of the system. As we all know, the prerequisite for the realization of fault-tolerant control is that the system needs redundant control force, and the addition of various new control surfaces just lays the premise foundation for the research of fault-tolerant control. However, various new control surfaces added in the design not only improve the reliability of the system, but also increase the coupling degree of various control su...

Examples

Embodiment Construction

[0068] Below in conjunction with accompanying drawing and embodiment the invention is described in detail:

[0069] The invention as figure 2 As shown, dynamic inverse control is adopted, and the proposed method can make the uncertain flight control system with external disturbance have ideal fault-tolerant tracking performance under control surface damage. In space vehicle attitude stabilization control and tracking control, the robust and fault-tolerant control of flight attitude is realized, and good control performance and effect are achieved.

[0070] The present invention provides an attitude fault-tolerant control method of an unmanned aerial vehicle based on dynamic control redistribution, and the system of the aircraft adopts a nonlinear formal system:

[0071] (3.1)

[0072] in: , , , , , , the specific control steps are as follows:

[0073] 1) The parameter u obtained from the control allocation processing of the control layer c , the parameter u...