Fault-tolerant control method of position and attitude system of three-rotor unmanned aerial vehicle under the jamming fault of steering gear

Abstract

The present invention relates to the problem of fault-tolerant control of three-rotor unmanned aerial vehicles. In order to propose a new fault-tolerant control method for unmanned aerial vehicles and realize complete closed-loop stable control, the technical solution adopted by the present invention is that the position and attitude system of the three-rotor unmanned aerial vehicle is blocked when the steering gear is blocked. The fault-tolerant control method is as follows: First, define the inertial coordinate system {I} and the body coordinate system {B}. By analyzing the dynamic characteristics of the three-rotor UAV and considering the influence of external disturbance and unknown air damping, the three Nonlinear dynamics model of rotor UAV when servo jamming occurs: the height channel controller is designed using the immersed-invariant set method; the translational system controller is designed using the immersed-invariant set method combined with the RISE algorithm. Fault-tolerant control of three-rotor UAV. The invention is mainly applied to the design and manufacture occasions of the three-rotor UAV.

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: July 2013; Article title: Adaptive Control of Quadrotor UAVs: a Design Trade Study with Flight Evaluations; Pages: 1400–1406); Partial fault-tolerant control methods require fault diagnosis and fault isolation, and fault reconstruction on this basis, the algorithm is complex, and it is difficult to implement engineering applications (Journal: Proceedings of the Institution of Mechanical Engineers ,Part I,Journal of Systems and Control Engineering; Authors: T.Li,Y.M.Zhang,B.W. Gordon; Date of publication: January 2012; Article title: Passive and Active Nonlinear Fault-Tolerant Control of a Quadrotor UAVBased on Sliding Mode Control Technique; pages: 12-23)

[0005] The three-rotor UAV is an underactuated system with four inputs and six outputs. When the steering gear is blocked and fails, the input will be reduced by one, making its underactuated characteristics more obvious. In addition, the coupling between the channels of the UAV makes the It is difficult to analyze its position and attitude control at the same time

The inner and outer loop control method can be effectively applied to the underactuated multi-rotor aircraft system. The design process of each part of the controller is relatively independent, but the stability analysis process is relatively complicated, and it is highly dependent on the stability conclusion of the inner loop controller, which is difficult to obtain. Draw a complete closed-loop stability conclusion

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