Fault-tolerant control method for position and pose system under blockage fault of steering engine of three-rotor unmanned aerial vehicle

Abstract

The invention relates to the problem of fault-tolerant control over a three-rotor unmanned aerial vehicle, and provides a fault-tolerant control method for a position and pose system under a blockagefault of a steering engine of the three-rotor unmanned aerial vehicle. The fault-tolerant control method is a novel fault-tolerant control method for the unmanned aerial vehicle and realizes completeclosed-loop stability control. According to the technical scheme, the fault-tolerant control method for the position and pose system under the blockage fault of the steering engine of the three-rotorunmanned aerial vehicle comprises the following steps that first an inertial coordinate system {I} and a vehicle body coordinate system {B} are defined, and the dynamic characteristics of the three-rotor unmanned aerial vehicle are analyzed and the influence of external disturbance and unknown air damping are simultaneously considered to obtain a nonlinear dynamic model during the blockage fault of the steering engine of the three-rotor unmanned aerial vehicle: an immersion-invariant set method is used for the design of a height channel controller; and the immersion-invariant set method is combined with a RISE algorithm to design a translation system controller to realize the fault-tolerant control over the three-rotor unmanned aerial vehicle. The fault-tolerant control method is mainly applied to design and manufacture occasions of the three-rotor unmanned aerial vehicle.

Description

technical field [0001] The invention relates to a fault-tolerant control problem of a three-rotor UAV. Aiming at the pose control problem of the three-rotor unmanned aerial vehicle when the steering gear is blocked, a nonlinear fault-tolerant control method based on the immersed-invariant set method and the robust signed error function integral (RISE) algorithm is proposed. Background technique [0002] In recent years, multi-rotor UAVs have been more and more widely used in military and civilian fields such as aerial photography, express transportation, and so on. Different from traditional four-rotor drones and six-rotor drones, three-rotor drones usually consist of three motors and a tiltable steering gear, which have the advantages of simple structure, low cost, low energy consumption, and good maneuverability. . Three-rotor UAVs usually achieve hovering, pitching, rolling and other actions by changing the speed of the three motors and the deflection angle of the steer...

AI Technical Summary

Problems solved by technology

Three-rotor UAVs usually achieve hovering, pitching, rolling and other actions by changing the speed of the three motors and the deflection angle of the steering gear. Due to the influence of the flight stability and manufacturing process of the drone, the steering gear is very prone to failure. Jamming faults will have a serious impact on the flight performance of the drone

[0004] However, the current various fault-tolerant control methods have their own limitations

For example, when performing dynamic modeling on actuator faults, it is regarded as an external disturbance moment, which is approximated to a large extent, and it is difficult to reflect the real impact of actuator faults on UAVs (Journal: Control Theory and Applications; Authors: Huihui Yang, Bin Jiang, Ke Zhang; Year of publication: 2014; Article title: Direct self-healing control of quadrotor helicopter attitude system; page number: 1053-1060); The dynamic model of the rotor UAV has been linearized, and the theory proves that only a stable conclusion near the equilibrium point can be obtained. When the actuator fails, the attitude of the aircraft will change suddenly, and in most cases the attitude of the aircraft will deviate from the equilibrium point. Large location, difficult to guarantee the application range of the controller (Journal: IEEE Transactions on Control Systems Technology; Author: Z.T.Dydek, A.M.Annaswamy, E.Lavretsky; Date of publication: Ju

Images