Self-adaptive fault tolerance control method, system and device for helicopter system and medium

Abstract

The invention discloses a self-adaptive fault tolerance control method, system and device for a helicopter system and a medium. The method comprises the following steps: constructing a nonlinear state-space equation of a helicopter system; determining enhanced nodes and incremental nodes of the helicopter system, and constructing a width learning neural network according to the enhanced nodes, the incremental nodes and the nonlinear state-space equation; determining self-adaptive auxiliary parameters according to the nonlinear state-space equation; and determining a control law and an adaptive law of the helicopter system according to the adaptive auxiliary parameters, the nonlinear state-space equation and the trained width learning neural network, and performing adaptive fault tolerance control on the helicopter system according to the control law and the adaptive law. According to the invention, the control law and the adaptive law are determined by constructing the width learning neural network and determining the adaptive auxiliary parameters, so that adaptive fault tolerance control is realized, the tracking error of the helicopter is reduced, the control precision of the helicopter is improved, and the method can be widely applied to the technical field of helicopter control.

Description

technical field [0001] The invention relates to the technical field of helicopter control, in particular to a helicopter system adaptive fault-tolerant control method, system, device and medium. Background technique [0002] In the past few years, more and more drones have been developed rapidly and widely used in our daily life, military operations and industrial production. In the application of unmanned aerial vehicles, one of the most difficult problems is how to precisely control the unmanned helicopter, because the unmanned helicopter is a highly nonlinear multiple-input multiple-output system, involving complex dynamic modeling, coupling effects and weak Anti-interference, these factors may also directly lead to actuator failure. Therefore, in order to ensure the normal and accurate flight of the unmanned helicopter, better control technology must be designed for the helicopter system. [0003] In the controller design of 2-DOF helicopter, overcoming uncertainty and...

AI Technical Summary

Problems solved by technology

However, these methods have not considered the fault-tolerant control of the helicopter system well

In modern industrial processes, the occurrence of actuator failure is inevitable, which may lead to unsatisfactory system performance or even system instability. In severe cases, it will cause the machine to explode, which is extremely harmful.

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