Unlock instant, AI-driven research and patent intelligence for your innovation.

Small unmanned helicopter self-adaptive fault-tolerant control method based on dynamic compensation

An unmanned helicopter, fault-tolerant control technology, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve problems such as controller design difficulties, simplify the establishment of complexity, ensure stability and robustness , The effect of reducing the difficulty of design

Active Publication Date: 2021-02-05
NORTHWESTERN POLYTECHNICAL UNIV
View PDF6 Cites 3 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the coupling of unknown parameters and adaptive parameters in the control matrix brings difficulties to the controller design, so it is necessary to study a new control mechanism

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Small unmanned helicopter self-adaptive fault-tolerant control method based on dynamic compensation
  • Small unmanned helicopter self-adaptive fault-tolerant control method based on dynamic compensation
  • Small unmanned helicopter self-adaptive fault-tolerant control method based on dynamic compensation

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0046] In the present embodiment, the adaptive fault-tolerant control method of small unmanned helicopter based on dynamic compensation comprises the following steps:

[0047] (a) Consider a small unmanned helicopter system dynamics model:

[0048] Let F b , τ b are the external force and external moment acting on the unmanned helicopter, respectively, e, v, w are the three components of the helicopter's flight speed on the body axis, p, q, r are the three components of the helicopter's angular velocity on the body axis, namely

[0049] v b =[e v w] T , ω b =[p q r] T ,

[0050] Then the rigid body kinematics equation of the small unmanned helicopter is:

[0051]

[0052]

[0053] In the formula:

[0054]

[0055] Among them, mr means main rotor, tr means tail rotor, fus means fuselage, vf means vertical tail, hf means horizontal tail.

[0056] After sorting out, the rigid body dynamics equation of the small unmanned helicopter can be obtained:

[0057]

...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention relates to a fault-tolerant control method of a small unmanned helicopter, mainly designs a self-adaptive controller based on an integral compensation thought, and belongs to the field of self-adaptive reliable control. The method comprises the following steps: firstly, establishing a small unmanned helicopter system kinetic model; carrying out continuous time linearization on the nonlinear model of the small unmanned helicopter; carrying out fault system modeling by utilizing a multi-model method; introducing an idea of integral compensation, and giving a specific form of a self-adaptive fault-tolerant control strategy based on state feedback; and designing an adaptive estimation law for an unknown parameter alpha, giving a linear matrix inequality condition for solving a control gain, and completing an algorithm design process. According to the method, the sub-models are combined together by using the parameter alpha to form a complete system model, so that the model establishment complexity is greatly simplified, and the design difficulty of the controller can be reduced; meanwhile, unknown control parameters to be solved are decoupled from unknown parameters, linear matrix inequality conditions which are easier to solve are obtained, and the stability and robustness of a fault system are ensured.

Description

technical field [0001] The invention relates to a fault-tolerant control method of a small unmanned helicopter, which mainly designs an adaptive controller based on the idea of ​​integral compensation, and belongs to the field of adaptive reliable control. Background technique [0002] Small unmanned helicopters have the characteristics of fixed-point hovering, flying in any direction, flexible maneuvering, and low requirements for take-off and landing sites, and have been widely used in military and civilian applications. From a structural point of view, a small unmanned helicopter mainly includes the main rotor, servo winglets, tail rotor, fuselage and vertical tail, etc. Failure of any key component may affect the normal operation of the system. In addition, due to the harsh flight environment, there are many unknown factors in the flight process of small unmanned helicopters, and its actuators may fail, drift and other faults and further lead to flight instability. In o...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 范泉涌任宏全许斌韩渭辛
Owner NORTHWESTERN POLYTECHNICAL UNIV