Four-rotor aircraft fault tolerance control method based on switching adaptive algorithm

A quadrotor aircraft and self-adaptive algorithm technology, applied in the field of aviation aircraft control, can solve the problem that large maneuvering quadrotor aircraft cannot guarantee good tracking of expected signals, and achieve the effect of ultimate boundedness

Active Publication Date: 2020-12-22
HARBIN INST OF TECH
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Problems solved by technology

[0006] In view of the above problems, the present invention proposes a fault-tolerant control method for a quadrotor aircraft based on a switching adaptive

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  • Four-rotor aircraft fault tolerance control method based on switching adaptive algorithm
  • Four-rotor aircraft fault tolerance control method based on switching adaptive algorithm
  • Four-rotor aircraft fault tolerance control method based on switching adaptive algorithm

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Embodiment Construction

[0053] Exemplary embodiments of the present invention will be described below with reference to the accompanying drawings. In the interest of clarity and conciseness, not all features of an actual implementation are described in this specification. It should be understood, however, that in developing any such practical embodiment, many implementation-specific decisions must be made in order to achieve the developer's specific goals, such as meeting those constraints related to the system and business, and those Restrictions may vary from implementation to implementation. Furthermore, it should be understood that development work, while potentially complex and time-consuming, would nevertheless be a routine undertaking for those skilled in the art having the benefit of the teachings herein. Here, it should also be noted that, in order to avoid obscuring the present invention due to unnecessary details, only the device structure and / or processing steps closely related to the so...

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Abstract

The invention discloses a four-rotor aircraft fault tolerance control method based on a switching adaptive algorithm, belongs to the field of aircraft control, and is used for solving the problem thata high-maneuverability four-rotor aircraft cannot well track an expected signal under the conditions that an input fault exists and kinetic parameters are unknown. The method is technically characterized by comprising the following steps of constructing a four-rotor aircraft segmented ray-imitating linear system containing unknown input faults and unknown kinetic parameters, a reference system and a controller; obtaining an error system model according to the segmented radioactive system, the reference system and the controller; designing a residence time constraint-based switching signal according to the segmented radioactive system and the reference system; and obtaining an adaptive law of control parameters in the controller according to the error system model and the switching signal.The method can achieve the good tracking performance of the high-maneuverability four-rotor aircraft for an expected signal, and can be used for the flight control of the four-rotor aircraft so as toguarantee the stable flight of the four-rotor aircraft under the conditions that an input fault and a kinetic parameter are unknown.

Description

technical field [0001] The invention relates to the field of aviation aircraft control, in particular to a fault-tolerant control method for a quadrotor aircraft based on a switching adaptive algorithm. [0002] technical background [0003] During the working process of quadrotor aircraft, motor failure or input signal failure is prone to occur, which seriously threatens its flight safety. At the same time, the strong maneuverability and large envelope motion characteristics of the quadrotor aircraft increase the complexity of the controller design of the aircraft. In the prior art, a quadrotor fault-tolerant method based on adaptive control is given in literature [1]. This method dynamically approximates the nonlinear system of the quadrotor into a linear system, and uses the traditional model reference adaptive control The method guarantees a certain flight performance of the quadrotor aircraft when a single motor fails. Good flight status in the airspace; Literature [2]...

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Application Information

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IPC IPC(8): G05B13/04G06F17/16G06F17/13
CPCG05B13/045G06F17/13G06F17/16
Inventor 袁帅张立宪蔡博张瑞先梁野
Owner HARBIN INST OF TECH
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