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Active fault-tolerant control method and device based on fixed time observer

A fault-tolerant control, fixed-time technology, applied in adaptive control, general control system, control/regulation system, etc., can solve problems such as large modeling error and poor system stability, and achieve the effect of small modeling error

Active Publication Date: 2020-08-11
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The technical problem to be solved by the present invention lies in the problems of poor system stability and large modeling errors in the control method of the prior art rotorcraft

Method used

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  • Active fault-tolerant control method and device based on fixed time observer
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  • Active fault-tolerant control method and device based on fixed time observer

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Embodiment 2

[0143] Corresponding to Embodiment 1 of the present invention, Embodiment 2 of the present invention also provides an active fault-tolerant control device based on a fixed time observer, which is applied to the fault-tolerant control of a rotorcraft. The device includes:

[0144] The model building module is used to establish the mathematical model of the rotorcraft attitude control system according to the control input dynamic value of the control system, the nonlinear dynamic value of the control system and the sum of the comprehensive disturbances;

[0145] The sliding mode observer establishes a module, which is used to establish a fixed-time sliding mode observer according to the input dynamic value in the mathematical model of the rotorcraft attitude control system, the nonlinear dynamic value in conjunction with the error variable and the state quantity of the sliding mode observer;

[0146] A fault-tolerant controller building module is used to establish a fault-toleran...

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Abstract

The invention discloses an active fault-tolerant control method and device based on a fixed time observer, and the method and device are used for the fault-tolerant control of a rotor aircraft, and the method comprises the steps: building a mathematic model of a rotor aircraft attitude control system; establishing a fixed-time sliding-mode observer according to the mathematical model of the attitude control system of the rotary-wing aircraft; establishing a fault-tolerant controller according to the mathematical model of the attitude control system of the rotary-wing aircraft and the fixed-time sliding-mode observer; and using the fault-tolerant controller for controlling the rotary wing type aircraft. The method has the advantages of being high in system stability and small in modeling error.

Description

technical field [0001] The invention relates to the technical field of fault-tolerant control of rotorcraft, and more particularly relates to an active fault-tolerant control method and device based on a fixed time observer. Background technique [0002] Compared with fixed-wing aircraft, rotary-wing aircraft has the advantages of being able to take off and land vertically and hover in the air while flying faster. In recent years, due to the increasingly mature technology related to unmanned rotorcraft, unmanned rotorcraft has been widely used in various industries. For example, it is used in the military to perform surveillance and reconnaissance tasks, and to perform rescue tasks in fires and earthquakes; at the same time, it is also one of the important tools and means for Mars exploration. [0003] The ability of rotorcraft to complete tasks efficiently and accurately is highly dependent on its internal flight control system. However, due to the complexity of its worki...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 邱剑彬王桐王雨佳樊渊
Owner HARBIN INST OF TECH