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Fault-tolerant control method for three-rotor UAV servo jamming fault

A fault-tolerant control, tri-rotor technology, used in adaptive control, general control systems, control/regulation systems, etc.

Active Publication Date: 2020-03-06
TIANJIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] To fill the gaps in the existing research objects, and to conduct research on the attitude control problem of the three-rotor UAV when the steering gear is blocked.

Method used

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  • Fault-tolerant control method for three-rotor UAV servo jamming fault
  • Fault-tolerant control method for three-rotor UAV servo jamming fault
  • Fault-tolerant control method for three-rotor UAV servo jamming fault

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Embodiment Construction

[0036] The invention relates to a fault-tolerant control problem of a three-rotor UAV. Aiming at the attitude control problem of the three-rotor unmanned aerial vehicle when the steering gear is jammed, a nonlinear fault-tolerant control method based on adaptive sliding mode observer technology is proposed.

[0037] In order to fill the gap of the existing research objects, the attitude control problem of the trirotor UAV when the steering gear is blocked is studied. The technical scheme adopted in the invention is a fault-tolerant control method based on an adaptive sliding mode observer, and the observer is used to observe fault information, and the controller is designed to use the observation information of the observer to compensate for actuator faults.

[0038] The specific steps are as follows: first define the inertial coordinate system {I}, the body coordinate system {B} and the target coordinate system {B} d}, by analyzing the action principle of the steering gear o...

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Abstract

The invention relates to the technology of three-rotor wing unmanned aerial vehicle fault-tolerant control. In order to research a posture control problem when a three-rotor wing unmanned aerial vehicle has a steering engine blockage fault, a technical scheme adopted by the invention is a fault-tolerant control method for the three-rotor wing unmanned aerial vehicle steering engine blockage fault. The method comprises the following steps of defining an inertial coordinate system {I}, a body coordinate system {B} and a target coordinate system {Bd}, analyzing an action principle of a steering engine to the three-rotor wing unmanned aerial vehicle and considering the influence of external disturbance to dynamic characteristics, so as to obtain a non-linear dynamical model when a three-rotor wing unmanned aerial vehicle actuator has a fault, and designing a corresponding observer and a corresponding controller. The method is mainly applied to a three-rotor wing unmanned aerial vehicle control occasion.

Description

technical field [0001] The invention relates to a fault-tolerant control technology for a three-rotor unmanned aerial vehicle, in particular, to a fault-tolerant control method for a jamming failure of a steering gear of a three-rotor unmanned aerial vehicle. Background technique [0002] In recent years, multi-rotor drones have been more and more widely used in military and civilian fields such as high-altitude photography, post-disaster rescue, and environmental monitoring. Unlike traditional quad-rotor UAVs and hexacopter UAVs, tri-rotor UAVs usually consist of three motors and one steering gear, with simpler structure, lower cost, less energy consumption, and greater mobility. The three-rotor drone relies on the rotation of the three motors and the deflection of the steering gear to achieve actions such as pitch, roll, and yaw. Due to the influence of the flight stability of the drone and its own technology, the steering gear is prone to blockage failures. The flight pe...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 鲜斌郝伟
Owner TIANJIN UNIV
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