Active-disturbance-rejection fault-tolerant control method for unmanned helicopter

Abstract

The invention relates to an active-disturbance-rejection fault-tolerant control method for an unmanned helicopter. The method comprises the steps of: firstly, carrying out modeling on wind disturbance and an actuator fault; designing an extended state observer to process the wind disturbance through an active disturbance rejection method, and constructing an adaptive fault observer for the actuator fault to estimate the actuator fault; and finally, designing a robust fault-tolerant tracking controller on the basis of a Lyapunov stability theory to ensure that the unmanned helicopter can track expected signals while flying safely and stably. The model is not only related to time, but also changes along with the change of the state of the helicopter, and can better reflect the actual flight condition. Meanwhile, the extended state observer is designed on the basis of the active disturbance rejection method to estimate and suppress the wind disturbance. In addition, the fault is converted, and the self-adaptive fault observer is designed to estimate a fault value in real time, so that the fault-tolerant capability of the system is improved. Finally, the problem of safe flight of the unmanned helicopter under interference and faults is solved, and it is ensured that expected trajectory signals are output and tracked.

Description

technical field [0001] The invention belongs to the technical field of aircraft robust fault tolerance, in particular to an unmanned helicopter self-disturbance fault tolerance control method. Background technique [0002] On March 8, 1946, the US Bell-47 helicopter obtained the aviation airworthiness certificate, which opened the first page of the history of helicopter use. In 1960, the world's first unmanned helicopter QH-50A successfully flew. An unmanned helicopter is an aircraft that does not carry an operator, uses onboard sensors and an automatic control system to perform a given task autonomously, or sends a remote command to perform a task through a radio remote control device. Compared with fixed-wing drones, unmanned helicopters have the following characteristics: (1) can complete functions such as fixed-point hovering, vertical take-off and landing, turn in place, and fly in any direction; (2) do not require specific airports and runways, It can realize vertica...

AI Technical Summary

Problems solved by technology

However, most of the current control systems for unmanned helicopters have not comprehensively analyzed and considered various conditions s

Images