Auxiliary output-based six-rotor unmanned aerial vehicle fault estimation method

A technology for fault estimation and auxiliary output, which is applied in calculation, design optimization/simulation, registration/instruction of vehicle operation, etc. It can solve problems that have not been widely studied, and achieve the effect of uniform distribution of drone body materials and quality

Active Publication Date: 2018-10-12
BEIHANG UNIV
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  • Auxiliary output-based six-rotor unmanned aerial vehicle fault estimation method
  • Auxiliary output-based six-rotor unmanned aerial vehicle fault estimation method
  • Auxiliary output-based six-rotor unmanned aerial vehicle fault estimation method

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[0101] The present invention will be described in detail below in conjunction with the accompanying drawings.

[0102] The present invention designs a fault estimation method based on the auxiliary output for the state space model of the six-rotor UAV where the actuator (motor, rotor) fails; first, establishes a dynamic model according to the structure of the six-rotor UAV, and then establishes The state space model of the hexacopter UAV; secondly, the residual lift provided by the hexacopter UAV actuator (motor, rotor) after the failure is used as the unknown input of the UAV system, and the six-rotor UAV with actuator failure is established. The state-space model of the man-machine system; then, according to the reality that the six-rotor UAV system does not meet the matching condition of the unknown input observer, the auxiliary output is constructed to break through the limitation of this condition, and the UAV state-space model is updated; then, for The updated UAV state-...

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Abstract

The invention relates to an auxiliary output-based six-rotor unmanned aerial vehicle fault estimation method. The method comprises the steps that firstly, a dynamic space model is built according to the structure of a six-rotor unmanned aerial vehicle; secondly, by taking residual lift force provided by a six-rotor unmanned aerial vehicle actuator (such as a motor and a rotor) after the six-rotorunmanned aerial vehicle actuator generates a fault as unknown input of the unmanned aerial vehicle system, a state space model of the six-rotor unmanned aerial vehicle system with the actuator fault is built; thirdly, according to the fact that the six-rotor unmanned aerial vehicle system does not meet the matching condition of an unknown input observer, auxiliary output is constructed to break through limitation of the condition; fourthly, a Luenberger observer is designed for the auxiliary output system; and finally, by means of the method of combining Lyapunov functional with robust H-infinity optimization indexes, the observer gain is solved, and precise estimation on the residual lift force signal of the fault motor is achieved. The method can break through limitation of the matchingcondition of the observer, is applied to the six-rotor unmanned aerial vehicle system, has the advantages of being simple in design and easy for engineering realization and can precisely estimate theresidual lift force signal provided by the fault motor under external interference.

Description

technical field [0001] The invention relates to a fault estimation method for a six-rotor UAV based on auxiliary output, which is applied to the fault estimation of actuator faults in a six-rotor UAV system. Background technique [0002] Due to the advantages of remote control, vertical take-off and landing, and stable flight attitude, multi-rotor UAVs have been widely used in transmission line inspections, forest fire prevention and other fields. Compared with the widely researched quadrotor UAV, the hexacopter UAV has a reasonable structure, has more actuators, can provide more hardware redundancy, and greatly enhances its stability. However, due to the influence of the UAV's own technology, the probability of failure of the motors and propellers of each rotor will greatly increase due to continuous high-speed rotation. The stability of a malfunctioning UAV will drop sharply, and it is easy to threaten the safety of personnel and equipment in the actual application proces...

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Application Information

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IPC IPC(8): G06F17/50G07C5/08
CPCG06F30/20G07C5/0808
Inventor 乔建忠程昱郭雷徐健伟张丹瑶
Owner BEIHANG UNIV
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