Unmanned aircraft posture decentralized fault-tolerant control method based on actuator dynamic state

Abstract

The invention designs an actuator fault detection and identification unit based on multiple observers and a decentralized fault-tolerant control framework for a near space aircraft with disturbances and parameter uncertainty by considering the problem of robust fault-tolerant control after the aircraft has actuator and control surface faults. A system can acquire the fault information of an actuator in real time. A self-adaptive sliding mode observer is designed for an attitude angular velocity loop. A designed observer has strong robustness, does not need to know the upper bound of the uncertainty or the disturbances. The information of a control surface damage fault and the disturbance information are fully implied. A fault-tolerant controller is designed based on an observer model. Through a designed fault-tolerant control system, robust fault-tolerance control is realized under the conditions of various different types of faults and multiple faults. The designed method is respectively applied to posture stabilization control and tracking control of the near space aircraft in the presence of actuator and control surface faults, and flight posture robust fault-tolerant control is realized.

Description

technical field [0001] The invention relates to the field of aircraft attitude fault-tolerant control, in particular to a distributed fault-tolerant control method for unmanned aircraft attitude based on actuator dynamics. [0002] Background technique [0003] As a new type of aerospace vehicle, the failures of near-space vehicles (NSVs) are mainly caused by failures of actuators, control surfaces, sensors and structures. In order to improve the safety and reliability of NSV, NSV has reasonably divided the traditional ailerons, rudders and elevators in the aerodynamic layout design, which can greatly improve the reliability and safety of the system, and also make the attitude control system become an overdrive system. [0004] Fault detection and identification (FDI) technology based on state or parameter estimation is the most commonly used method for fault-tolerant control of flight control systems. It is a model-based method. At present, various mainstream FDI methods ...

AI Technical Summary

Problems solved by technology

Traditional fault detection and diagnosis units seldom involve actuator dynamics. The main reason is that after considering the actuator dynamics, the order of the original system dynamic equation will increase accordingly, which will increase the difficulty of fault detection and diagnosis.

However, when the design of FDI does not consider the dynamics of the actuator, it will cause faults or errors in the estimation of parameters on the Hard-In-Loop

Images