Backstepping self-adaptive fault-tolerant control method for fixed-wing unmanned aerial vehicle under actuator fault

A fault-tolerant control, fixed-wing technology, applied in adaptive control, general control system, control/regulation system, etc., can solve problems such as reduced execution efficiency

Active Publication Date: 2021-12-03
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0009] In order to solve the above technical problems, the object of the present invention is to provide a backstepping adaptive fault-tolerant control method for the reduction of execution efficiency of the fixed-wing unmanned aerial vehicle due to the failure of the actuator, so as to ensure that the fixed-wing unmanned aerial vehicle is under the condition of the failure of the actuator. Still able to fly stably and track the desired attitude

Method used

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  • Backstepping self-adaptive fault-tolerant control method for fixed-wing unmanned aerial vehicle under actuator fault
  • Backstepping self-adaptive fault-tolerant control method for fixed-wing unmanned aerial vehicle under actuator fault
  • Backstepping self-adaptive fault-tolerant control method for fixed-wing unmanned aerial vehicle under actuator fault

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Embodiment Construction

[0057] The control method of the present invention will be further explained in conjunction with the accompanying drawings.

[0058] (a) Establish the dynamic model of fixed-wing UAV:

[0059]

[0060]

[0061]

[0062] The model consists of nine state variables X = [V, χ, γ, μ, α, β, p, q, r] T and three control inputs u=[δ a ,δ e ,δ r ]T; among them, V represents velocity, χ represents heading angle, γ represents track angle; μ represents tilt angle, α represents angle of attack, β represents sideslip angle; Body axis pitch rate, body axis yaw rate; T is thrust, D is drag, L is lift, Y is lateral force; is the rolling moment, is the pitching moment, is the yaw moment; the moment of inertia component c i It is defined as follows:

[0063]

[0064] where I x , I y , I z , I xz Respectively represent rolling inertia, pitching inertia, yaw inertia and product of inertia. Forces and aerodynamic moments are defined as follows:

[0065]

[0066] Amon...

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Abstract

The invention discloses a backstepping self-adaptive fault-tolerant control method for a fixed-wing unmanned aerial vehicle under an actuator fault. The backstepping self-adaptive fault-tolerant control method is used for solving the problem that the execution efficiency of an existing fixed-wing unmanned aerial vehicle is reduced due to the actuator fault. The method comprises the following steps: firstly, converting an attitude dynamic model of the fixed-wing unmanned aerial vehicle into an affine form, and establishing a fixed-wing unmanned aerial vehicle actuator fault model by considering the condition that the actuator fault efficiency is reduced; secondly, estimating an efficiency factor in the fault model by designing an adaptive law, and introducing a projection operator to ensure the boundaries and authenticity of the efficiency factor; and then, obtaining a fault-tolerant controller based on a back-stepping method deduction design. The method is used for fault-tolerant control of execution efficiency reduction caused by fixed-wing unmanned aerial vehicle actuator faults.

Description

technical field [0001] The invention relates to a backstepping self-adaptive fault-tolerant control method aimed at reducing the execution efficiency of a fixed-wing unmanned aerial vehicle due to actuator failure, and belongs to the field of aircraft fault-tolerant control. [0002] technical background [0003] Nowadays, drones play an indispensable role in various fields due to their small size and ease of use. Compared with rotary-wing UAVs, fixed-wing UAVs have the advantages of larger load and longer range, and have different applications in military and civilian applications, such as border patrols, tactical reconnaissance, and damage assessments in the military. It is suitable for disaster monitoring, forest fire prevention, meteorological monitoring, large-scale land monitoring and mapping, plant protection operations, inspection of long transmission lines, inspection of long gas and oil pipelines, etc. The complexity of the mission requires the fixed-wing UAV syste...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042Y02T90/00
Inventor 余自权杨钟煜程月华徐贵力
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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