Robust fault-tolerant tracing method of unmanned helicopter

A technology of unmanned helicopters and helicopters, applied in the direction of non-electric variable control, instruments, attitude control, etc., can solve the problems of loss, control law is difficult to achieve performance indicators, increase, etc.

Active Publication Date: 2019-07-09
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Moreover, 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 the failure cannot be effectively detected or processed within a limited control p

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  • Robust fault-tolerant tracing method of unmanned helicopter
  • Robust fault-tolerant tracing method of unmanned helicopter
  • Robust fault-tolerant tracing method of unmanned helicopter

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Embodiment Construction

[0088] The technical solutions of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0089] 1. System model

[0090] In this paper, the following nonlinear system model of unmanned helicopter is considered:

[0091]

[0092] In the formula, m is the mass of the helicopter, g is the acceleration due to gravity, e=[0,0,1] T , h 1 =[X g ,Y g ,Z g ] T is the position vector of the helicopter, h 2 =[u,v,w] T is the velocity vector, h 3 =[φ,θ,ψ] T is the attitude angle vector, h 4 =[p,q,r] T is the attitude angular rate vector, X g ,Y g ,Z g Respectively represent the components of the position of the helicopter in each direction of the three-dimensional space, u, v, w respectively 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, pi...

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Abstract

The invention discloses a robust fault-tolerant tracing method of an unmanned helicopter. The robust fault-tolerant tracing method comprises the steps of building a six-freedom non-linear dynamic model, comprising main rotor dynamic waving and executor fault, of the unmanned helicopter; dividing a unmanned helicopter system into a position sub-system, a gesture sub-system and a waving sub-system,and designing an auxiliary state observer for each sub-system; and building a robust fault-tolerant controller to prevent influence of the fault on the system according to the designed auxiliary stateobservers of the three sub-systems. Stability can be maintained under considering influence of rotor dynamic waving and executor fault, and meanwhile, an expected reference track is traced.

Description

technical field [0001] The invention belongs to the field of aircraft robust fault tolerance technology, and in particular relates to a robust fault tolerance tracking method for unmanned helicopters. Background technique [0002] An unmanned helicopter is an aircraft that does not carry an operator, uses onboard sensors and an automatic control system to perform a given task autonomously, or sends a remote command to perform a task through a radio remote control device. Compared with fixed-wing drones, unmanned helicopters have the following characteristics: [0003] 1) It can complete functions such as fixed-point hovering, vertical take-off and landing, turning in place, and flying in any direction; [0004] 2) It does not require specific airports and runways, and can realize vertical take-off and landing in harsh wild environments; [0005] 3) Due to the autorotation characteristics of the rotor of the unmanned helicopter, when the engine breaks down and the helicopte...

Claims

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Application Information

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IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 陈谋阎坤吴庆宪姜斌盛守照邵书义张柯
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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