Fault-tolerant control method for control surface damage fault of fixed-wing aircraft
A fault-tolerant control and fixed-wing technology, applied in the field of fixed-wing aircraft, can solve problems such as out-of-control crashes and performance degradation of the control system of fixed-wing aircraft, and achieve the effects of ensuring stability, improving performance, quick response and intervention
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Embodiment 1
[0054] Such as figure 1 The present embodiment shown provides a fault-tolerant fault-tolerant control method for rudder surface damage of a fixed-wing aircraft, including the following steps:
[0055] S100: Obtain the real-time pitch angle θ, roll angle φ and yaw angle ψ, let ω 1 =[θ φ ψ];
[0056] S200: Pass ω 1 =[θ φ ψ] and reference signal ω d =[θ d φ d ψ d ] to get the tracking error z 1 = ω 1 -ω d ;
[0057] S300: The tracking error z obtained by 1 = ω 1 -ω d Compare with threshold:
[0058] (1) If the tracking error is less than the threshold, it means that the flight system of the fixed-wing aircraft is stable, then return to step S100;
[0059] (2) If it is not satisfied that the tracking error is less than the threshold, then enter step S400;
[0060] S400: Correct the pitch angle, roll angle and yaw angle through a correction function;
[0061] where: θ d Indicates the reference angle of the pitch angle, φ d Indicates the reference angle of the ro...
Embodiment 2
[0093] Carry out simulation experiments according to the control method of embodiment 1 and verify the control performance of the controller, under the self-adaptive backstepping integral sliding mode controller, carry out the simulation experiments that elevator damage degree is 40%, 60% and 80%, simulation The experiment is 100s.
[0094] When various degrees of elevator failure occur in the pitch channel, such as figure 2 is the pitch angle tracking curve when 40% of the elevator fails, such as image 3 is the tracking curve of the pitch angle when 60% of the elevator fails, such as Figure 4 is the pitch angle tracking curve of the pitch angle when the elevator is 80% faulty, and each sub-graph shows the pitch angle tracking curve of the elevator response under normal conditions, the pitch angle tracking curve of the expected response of the elevator when there is no damage fault, and the pitch angle tracking curve of the elevator response when there is no damage fault. ...
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