Estimation and self-healing control method for blade injury of multi-rotor unmanned aerial vehicle autopilot

Abstract

The invention relates to an estimation and self-healing control method for a blade injury of a multi-rotor unmanned aerial vehicle autopilot. The estimation and self-healing control method comprises the steps of: firstly, calculating a moment acted on a machine body by an instruction output by an autopilot control system under a non-fault condition and a mathematical model between a force and moment which are acted on the machine body; then constructing a machine body attitude control system state equation, and estimating a moment disturbance variable generated for the machine body after the blade injury by adopting a time domain disturbance observer; then inverting and resolving a parameter estimated value of a blade injury model according to an inverse model of the blade injury mathematical model; and finally, according to the parameter estimated value of the blade injury model, designing a control distribution reconstruction matrix to implement control distribution reconstruction ofthe autopilot. Compared with the prior art, the estimation and self-healing control method for the blade injury of the multi-rotor unmanned aerial vehicle autopilot, which is disclosed by the invention, has the following advantages that a blade injury degree can be estimated online; and by reconstructing a control object mathematical model online, control self-healing of the multi-rotor unmannedaerial vehicle autopilot under the blade injury is implemented, so as to ensure safe and stable flight of an unmanned aerial vehicle under the blade injury condition.

Description

technical field [0001] The invention relates to a method for estimating and self-healing control of blade damage of an autopilot of a multi-rotor UAV, and belongs to the technical field of UAV control. Background technique [0002] Multi-rotor drones are unmanned aerial vehicles with multiple rotors and vertical take-off and landing capabilities. They have the advantages of light weight, small size, and high flexibility. They also have excellent vertical take-off and landing performance, hovering performance, and low-speed performance. The multi-rotor is small in size, light in weight, and compact in structure. It integrates multiple sensors, multiple actuators, and a complex interface control system, and is easily affected by changes in the external environment. It is difficult to guarantee that there will be no problems during the flight. The failure rate is high. In addition to the rigid body dynamics model, multi-rotor drones also have rotor dynamics and motor models. I...

AI Technical Summary

Problems solved by technology

A hexacopter UAV fault estimation method based on auxiliary output, patent number: 201810448305.7, proposes a method that can accurately estimate the residual lift signal provided by the motor after the hexacopter UAV fails under external interference, but does not Involves the control method design under such faults, and does not carry out propeller fault estimation and model reconstruction

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