Robust adaptive compensation control method for unmanned helicopter
An unmanned helicopter, robust and adaptive technology, applied in attitude control, three-dimensional position/channel control and other directions, can solve the problems of fixed-wing aircraft enlargement, loss of control, and static instability of unmanned helicopters.
Active Publication Date: 2019-05-17
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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[0006] 2) Fault-tolerant control of unmanned helicopters
Unmanned helicopters will not only encounter disturbances such as external wind disturbance and engine vibration during flight, but also due to the non-intervention of human beings and the uncertainty of the environment, the probability of failure is significantly higher than that of fixed-wing aircraft. If it is effectively detected or processed within a limited control cycle, the unmanned helicopter will lose control due to its static instability, resulting in heavy losses
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[0063] The technical solutions of the present invention will be described in detail below in conjunction with the accompanying drawings.
[0064] 1. System model
[0065] For the following unmanned helicopter 6 degrees of freedom nonlinear dynamic model:
[0066]
[0067] In the formula, α=[x,y,z] T and β=[u,v,w] T is the position vector and velocity vector of the helicopter in the inertial coordinate system, γ=[φ,θ,ψ] T is the attitude angle, χ=[p,q,r] T is the attitude angular rate in the body coordinate system, x, y, z represent the components of the position of the helicopter in each direction of the three-dimensional space, u, v, w represent the components of the speed of the helicopter in each direction of the three-dimensional space, φ, θ , ψ represent the roll angle, pitch angle and yaw angle of the helicopter respectively, p, q, r represent the roll rate, pitch rate and yaw rate of the helicopter respectively, m is the mass of the helicopter, g is the gravitati...
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The invention discloses a robust adaptive compensation control method for an unmanned helicopter. External interferences and executor faults are simultaneously considered, and the six-degree-of-freedom nonlinear system model of the unmanned helicopter is constructed; a system position loop robust fault tolerant controller and a posture loop robust fault tolerant controller are independently established: firstly, a nominal controller is designed for a dynamic equation which only considers external interferences, and an adaption method is adopted to inhibit the influence of the external interferences on a system; and on the basis of the designed nominal controller, the executor faults are considered, and a compensation item is added to weaken the influence of the executor faults on the system. By use of a control scheme designed by the invention, an unmanned helicopter robust fault tolerant tracking control problem which simultaneously considers the external interferences and the executor faults can be solved.
Description
technical field [0001] The invention belongs to the technical field of aircraft robust fault tolerance, and in particular relates to a robust adaptive compensation control method for unmanned helicopters. Background technique [0002] Unmanned helicopter refers to an unmanned aircraft that can take off and land vertically by radio ground remote control or autonomous control. It belongs to rotor aircraft in structural form and vertical take-off and landing aircraft in function. In the past ten years, with the research progress of composite materials, power systems, sensors, especially flight control and other technologies, unmanned helicopters have developed rapidly and are increasingly becoming the focus of attention. [0003] Unmanned helicopters have unique flight performance and use value. Compared with manned helicopters, unmanned helicopters have incomparable advantages in many aspects due to the characteristics of no casualties, small size, low cost, and strong battle...
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IPC IPC(8): G05D1/08G05D1/10
Inventor 陈谋阎坤吴庆宪姜斌盛守照邵书义甑子洋
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS