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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 period, the unmanned helicopter will be damaged due to its static stability. Stable features run out of control, leading to major losses
At this time, the control law based on the nominal system design is generally difficult to achieve the desired performance index

Method used

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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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