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Unmanned helicopter active fault-tolerant anti-interference trajectory tracking control method considering actuator fault

An unmanned helicopter and trajectory tracking technology is applied in the field of flight control to ensure the dynamic characteristics of flight, improve response speed and tracking accuracy, and reduce difficulty.

Pending Publication Date: 2022-06-03
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Abstract
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  • Claims
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Problems solved by technology

However, these control methods mainly rely on the robustness of the algorithm itself to passively suppress the impact of faults and disturbances, sacrificing some performance indicators in the process of design and parameter adjustment.

Method used

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  • Unmanned helicopter active fault-tolerant anti-interference trajectory tracking control method considering actuator fault
  • Unmanned helicopter active fault-tolerant anti-interference trajectory tracking control method considering actuator fault
  • Unmanned helicopter active fault-tolerant anti-interference trajectory tracking control method considering actuator fault

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Embodiment Construction

[0106] Below in conjunction with the accompanying drawings and specific embodiments, the present invention will be further clarified. It should be understood that these embodiments are only used to illustrate the present invention and not to limit the scope of the present invention. Modifications of equivalent forms all fall within the scope defined by the appended claims of this application.

[0107] The invention provides an active fault-tolerant anti-jamming trajectory tracking control method for an unmanned helicopter considering actuator faults, such as figure 1 shown, it includes the following steps:

[0108] S1: Establish a disturbed dynamic model of the full loop of the unmanned helicopter. The establishment process is as follows:

[0109] A1: Build a dynamic model of the position loop of the disturbed unmanned helicopter including the actuator failure:

[0110]

[0111] Among them, P=[x,y,z] T , V=[v x ,v y ,v z ] T respectively represent the position and sp...

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Abstract

The invention discloses an unmanned helicopter active fault-tolerant anti-interference trajectory tracking control method considering an actuator fault. The method comprises the following steps: establishing an unmanned helicopter full-loop disturbed kinetic model; respectively designing interference observers of the position control subsystem and the attitude control subsystem; lumped interference estimation of a position ring and lumped interference estimation of an attitude ring are realized; designing a composite dynamic inverse position controller and a composite dynamic inverse attitude controller; a control quantity total distance and an inner loop attitude angle instruction are obtained through a composite dynamic inverse position controller; according to the inner loop attitude angle instruction, the tail rotor pitch, the longitudinal periodic pitch and the transverse periodic pitch of the unmanned helicopter are obtained through the composite dynamic inverse attitude controller. According to the method, the influence of the multi-source interference and the actuator fault is regarded as the lumped interference, the influence of the multi-source interference and the actuator fault on the system control precision is effectively reduced, and the trajectory tracking precision of the helicopter system is remarkably improved.

Description

technical field [0001] The invention belongs to the technical field of flight control, and in particular relates to an active fault-tolerant anti-jamming trajectory tracking control method for an unmanned helicopter considering actuator faults. Background technique [0002] Unmanned helicopters are unmanned rotorcraft that can take off and land vertically and maneuver in space. They have the advantages of low cost and high flexibility, and are widely used in detection and measurement, photographic recording, military reconnaissance and other fields. Compared with fixed-wing UAVs, unmanned helicopters do not need a wide and flat take-off runway, and can realize vertical take-off and landing and fixed-point hovering, and can operate in complex airspace in a multi-obstacle environment. Compared with quadrotor UAVs, unmanned helicopters can achieve faster level flight and stronger load capacity. The unmanned helicopter is a complex nonlinear system with underactuated and highly...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101Y02T90/00
Inventor 赵振华赵天行姜斌曹东祖家奎
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS