Active fault tolerance control method of four-rotor aircraft based on sliding-mode observer

Abstract

The invention discloses an active fault tolerance control method of a four-rotor aircraft based on a sliding-mode observer. The active fault tolerance control method is provided by considering that a performer may have faults when the four-rotor aircraft is in a state delay condition and combining the sliding-mode observer with sliding-mode control. The sliding-mode observer is designed, linear transformation is carried out on the system, faults of the performer are reconstructed on the basis of the ideal of equivalent error injection, compensation control is added into sliding-mode control by utilizing the reconstructed estimation value of the performer faults, and a complete active fault tolerance controller is formed. According to the invention, the sliding-mode observer is designed, the faults are reconstructed and estimated, online adjustment of the controller gain is realized, the provided control law is optimal, the control precision and response speed of flight of the four-rotor aircraft are effectively improved, and a design basis of the fault tolerance controller is provided for the complex four-rotor aircraft with performer faults. The method can be applied to active fault tolerance control for the four-rotor aircraft with time variation and time lag.

Description

technical field [0001] The invention relates to an active fault-tolerant control method of a quadrotor aircraft based on a sliding mode observer, and belongs to the field of aircraft fault diagnosis and fault-tolerant control. Background technique [0002] In a typical quadrotor helicopter, the four rotors are distributed in a cross shape in front, rear, left and right directions. Each rotor is connected to a DC motor, and the control law controls the rotation speed of the rotor by adjusting the rotation speed of the DC motor, thereby adjusting the lift at the vertices of the four directions. In order to counteract the reaction torque generated by the rotation of the rotor, the front and rear are one group, and the left and right are one group. The two groups of rotors rotate in opposite directions, so there is no need to use the tail rotor to eliminate the torque like a conventional tandem helicopter. Quadrotor helicopter is a complex controlled object, which has various c...

AI Technical Summary

Problems solved by technology

Quadrotor helicopter is a complex controlled object, which has various complex problems such as multiple input and multiple output, nonlinearity, strong coupling, time delay, etc., and it will inevitably encounter wind disturbance and engine vibration during flight. Uncertain factors, coupled with the lack of human real-time control, once the helicopter fails, it will cause catastrophic consequences

However, most of the existing methods are passive fault-tolerant control with a fixed structure, and it is difficult to have a good control effect on complex flight control systems. Therefore, the present invention has good practicability

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