A fault-tolerant control device and method for a quadrotor helicopter aiming at state time lag

Abstract

The invention discloses a four-rotor helicopter fault-tolerant control device and method for state time lag. The device includes a fault injection module, a helicopter system platform, a data acquisition module, a fault diagnosis module, and a power amplifier. The fault injection module is connected to the helicopter system platform. Connect, inject the simulated fault information into the helicopter system platform; the data acquisition module collects the status information and error information of the helicopter; the fault diagnosis module receives the status information and error information, obtains the fault-tolerant control law, and resends the fault-tolerant control law to the data acquisition module ; After the data acquisition module processes the fault-tolerant control law, the control command is transmitted to the motor in the helicopter system platform through the power amplifier to perform fault-tolerant adjustment until the error is zero. Based on the established linear mathematical model of the four-rotor helicopter, the invention adopts an improved guaranteed performance controller and model reference self-adaptation, and solves the fault-tolerant control problem of the system under the conditions of disturbance, state time delay and multiple faults.

Description

Technical field [0001] The invention belongs to the technical field of helicopter fault-tolerant control, in particular to a four-rotor helicopter fault-tolerant control device and method aiming at state time lag. Background technique [0002] In recent years, quadrotor helicopters have been widely used in rescue, search and surveillance and other fields. The dynamic model of a quadrotor helicopter is an under-driven, highly coupled nonlinear system, so the control research of the quadrotor is a hot project with certain challenges. Usually due to external interference, time delay and actuator performance degradation, various failures of the quad-rotor helicopter will occur. In order to ensure the emergency handling capability of the system and ensure the safe operation of the system, it is essential to conduct fault assessment, analysis and fault tolerance control of the system. [0003] In order to realize the design of the quad-rotor helicopter fault-tolerant control system, ha...

AI Technical Summary

Problems solved by technology

For a quadrotor helicopter with state time lag, the flight performance will be greatly affected because the time lag will cause the control system to oscillate.

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