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Adaptive fault-tolerant control method for small unmanned helicopter 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, achieve simplified establishment complexity, reduce design difficulty, and ensure stability and the effect of robustness

Active Publication Date: 2022-07-26
NORTHWESTERN POLYTECHNICAL UNIV
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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

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  • Adaptive fault-tolerant control method for small unmanned helicopter based on dynamic compensation
  • Adaptive fault-tolerant control method for small unmanned helicopter based on dynamic compensation
  • Adaptive fault-tolerant control method for small unmanned helicopter based on dynamic compensation

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Embodiment Construction

[0046] The adaptive fault-tolerant control method for small unmanned helicopters based on dynamic compensation in this embodiment includes the following steps:

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

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

[0049] v b =[e v w] T , ω b =[pqr] T ,

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

[0051]

[0052]

[0053] where:

[0054]

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

[0056] After finishing, the rigid body dynamics equation of the small unmanned he...

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Abstract

The invention relates to a fault-tolerant control method for a small unmanned helicopter, mainly designs an adaptive controller based on the idea of ​​integral compensation, and belongs to the field of adaptive reliable control. The method firstly establishes the dynamic model of the small unmanned helicopter system; the nonlinear model of the small unmanned helicopter is linearized in continuous time; the multi-model method is used to model the fault system; the idea of ​​integral compensation is introduced, and the adaptive fault tolerance based on state feedback is given. The specific form of the control strategy; the adaptive estimation law for the unknown parameter α is designed, the linear matrix inequality conditions for solving the control gain are given, and the algorithm design process is completed. The method uses the parameter α to combine these sub-models together to form a complete system model, which greatly simplifies the complexity of model establishment and reduces the difficulty of controller design. The linear matrix inequality condition of the system ensures the stability and robustness of the faulty system.

Description

technical field [0001] The invention relates to a fault-tolerant control method for a small unmanned helicopter, 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 maneuverability, 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. The 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, offset and other faults, which will further lead to flight instab...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 范泉涌任宏全许斌韩渭辛
Owner NORTHWESTERN POLYTECHNICAL UNIV
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