Safety control method under gyroscope fault state
Through real-time monitoring and control algorithms based on normal overload and vertical speed feedback, the uncontrollable problem of target aircraft caused by gyroscope failure is solved, and stable flight and safe recycling in the case of failure is achieved, which is strongly robust and engineering practical.
Patent Information
- Application Number
- CN202510151127.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-11
- Publication Date
- 2025-05-16
AI Technical Summary
In low-cost target machines, gyroscope failure will cause the target machine controller to output incorrect control volume, causing the target machine to be uncontrollable, and in severe cases, it may lead to the destruction of the machine. The existing hardware redundant methods are costly and complex, and the calculation amount of intelligent algorithm processing methods is large and difficult to implement.
A safety control method in the gyroscope fault state is proposed. By monitoring the gyroscope status of the target machine in real time, the overload control algorithm based on the normal overload and vertical speed feedback, the target machine height is controlled, and the conventional attitude control algorithm is disconnected, and the target machine longitudinal channel control is adopted using a strong robust overload and vertical speed feedback based on normal overload and vertical speed feedback.
It realizes that in the case of gyroscope failure, the target machine can complete the task stably and recover safely, which has strong engineering practice and robustness, avoiding the disadvantages of hardware redundancy and complex computing.
Smart Images
Figure CN120010554A_ABST
Abstract
Description
Technical Field
[0001] The invention belongs to the technical field of unmanned aerial vehicle sensor failure, and in particular relates to a safety control method under a gyroscope failure state. Background Art
[0002] For low-cost drones, redundancy sensors are generally not configured. Gyroscopes are the core sensors of drones. Once a gyroscope fails, the drone controller collects wrong sensor information and outputs wrong control quantities, and the drone becomes uncontrollable. In the worst case, the drone will fail to complete the flight mission, and in the worst case, the drone will be destroyed and people will die. Therefore, it is particularly important to consider the safety control of the drone under the state of gyroscope failure.
[0003] In the early days, research on gyro fault detection and diagnosis focused on hardware redundancy. This method used multiple gyro sensors to back up each other, but this method resulted in high hardware costs and large space usage. Recently, with the rapid development of artificial intelligence, some scholars have proposed using trained networks for fault detection and sensor status prediction to ensure the normal operation of the system when related faults occur. However, this intelligent algorithm processing method is relatively complex in engineering applications, and the amount of calculation is large, making it difficult to implement. Summary of the invention
[0004] The purpose of the present invention is to solve the problems raised in the background technology, and to propose a method for safely controlling a target drone under a gyro failure state, so as to control the target drone to complete the task and recover it safely. The method needs to be highly robust and also have engineering practicability.
[0005] In order to achieve the purpose of the present invention, the present invention discloses a safety control algorithm under a gyro fault state, comprising the following steps:
[0006] Step 1: monitor the gyro status of the target drone in real time;
[0007] Step 2: When the target drone has a drift failure, the height of the target drone is controlled based on the overload control algorithm of normal overload and vertical velocity feedback.
[0008] Furthermore, if the target drone has a large positive pitch attitude when it raises its head but the altitude decreases, or if the target drone has a large negative pitch attitude when it lowers its head but the altitude increases, it is determined that the gyro has a drift failure.
[0009] Furthermore, the outer loop of the overload control algorithm based on normal overload and vertical speed feedback generates the control of altitude to overload command with a proportional PID structure of altitude difference, and the normal overload and vertical speed of the target aircraft serve as the core of altitude control.
[0010] Furthermore, the specific steps for determining whether the gyro has drift failure are as follows:
[0011] If the drone attitude is negative and the duration exceeds the safety threshold, and the vertical speed is continuously positive and exceeds the corresponding threshold, the gyro fault status flag is set to 1:
[0012]
[0013] If the drone attitude is positive and the duration exceeds the safety threshold, and the vertical speed is negative and lower than the corresponding threshold, the gyro fault status flag is set to 2:
[0014]
[0015] in, is the preset vertical speed threshold, θ state is the preset pitch angle threshold, t safe is the duration threshold, Gy state When it is 1 or 2, it is determined that the gyro pitch attitude drift fault occurs, Gy state When it is 0, the gyro pitch attitude output value is judged to be normal.
[0016] Furthermore, after the gyro drift failure is detected, the conventional attitude control algorithm is disconnected, and the overload control algorithm based on normal overload and vertical velocity feedback is adopted to control the target drone to complete the mission and recover it safely; the control law of the overload control algorithm based on normal overload and vertical velocity feedback is as follows:
[0017] ΔH=H c -H
[0018] N yg =1+K H ΔH+K IH ΔH+K dH dH
[0019] H c is the height setting, H is the feedback height, dH is the vertical speed feedback, ΔH is the deviation between the given height and the feedback height, N yg is the overload control quantity calculated by the control law, K H , K IH , K dH K is the PID structure control coefficient from the height loop to the overload command, H is the proportionality coefficient, K IH is the integral coefficient, K dH is the differential coefficient, and the corresponding control parameters are designed according to the aerodynamic characteristics of different target drones.
[0020] Compared with the prior art, the significant progress of the present invention is that: the present invention proposes a safety control method under gyro fault state, and designs a strong robust non-overshoot control method based on normal overload and vertical velocity feedback to control the longitudinal channel of the target drone. If a gyro fault is found, the pitch attitude information output by the gyro and the conventional pitch attitude control method are no longer used to control the longitudinal channel. The control algorithm based on normal overload and vertical velocity feedback is used to control the longitudinal channel, control the target drone to complete the mission and recover safely, which has strong engineering practicality.
[0021] In order to more clearly illustrate the functional characteristics and structural parameters of the present invention, further description is given below in conjunction with the accompanying drawings and specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS
[0022] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:
[0023] Figure 1 A flow chart of a safety control method under a gyro fault state;
[0024] Figure 2 It is a schematic diagram of the pitch attitude curve of drift fault under the injection of gyro pitch attitude;
[0025] Figure 3 Schematic diagram of the pitch attitude curve when the gyro pitch attitude drift fault is injected. DETAILED DESCRIPTION
[0026] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.
[0027] The present invention proposes a safety control method under a gyro fault state, and designs a strong robust overshoot-free control method based on normal overload and vertical velocity feedback to control the longitudinal channel of the target drone. According to engineering experience, the failure rate of the gyro pitch attitude is much higher than that of the roll attitude. The present invention does not consider the gyro roll attitude failure handling method for the time being. In engineering practice, the gyro status is monitored in real time. After confirming the gyro failure, the pitch attitude information output by the gyro is no longer used. Then, an overload control algorithm based on normal overload and vertical velocity feedback is designed to control the longitudinal channel of the target drone and control the height of the target drone. Overload instructions are generated based on the height difference and vertical velocity feedback, and the inner loop uses pitch angular velocity stabilization. The integral of the height difference is added to the height control structure. This link can improve the system's ability to resist the drift of the inner loop sensor and the accuracy of height tracking.
[0028] like Figure 1 As shown, a safety control algorithm under a gyro fault state specifically includes the following steps:
[0029] Step 1: monitor the gyro status of the target drone in real time;
[0030] Step 2: When the target drone has a drift failure, the height of the target drone is controlled based on the overload control algorithm of normal overload and vertical velocity feedback.
[0031] Typical gyro faults include drift fault, bias fault, spike fault, and step fault. In actual flight, the most common and difficult to solve fault is gyro drift fault, so this design only monitors gyro drift fault. During the flight, the gyro status of the target aircraft is monitored in real time. The drift of the gyro fault is reflected in the mismatch between the pitch attitude of the target aircraft and the vertical speed of the target aircraft. Combined with the aerodynamic characteristics of the target aircraft, in theory, when the target aircraft raises its head and has a large positive pitch attitude angle, the target aircraft should be in a climbing state with an increasing altitude trend, and when the target aircraft lowers its head and has a large negative pitch attitude angle, the target aircraft should be in a diving state with a decreasing altitude trend. If the target aircraft raises its head and has a large positive pitch attitude, but the altitude decreases, or the target aircraft lowers its head and has a large negative pitch attitude, but the altitude increases, it is judged that the gyro has a drift fault.
[0032] Specifically, after a gyro failure, the pitch angle feedback signal is distorted and cannot reflect the true state of the target drone. If the distorted feedback signal is used to control the longitudinal channel of the target drone through conventional attitude control, the attitude of the target drone will show an oscillating divergent trend until it crashes. Therefore, an overload control algorithm based on normal overload and vertical velocity feedback is designed to control the altitude. The outer loop uses a proportional PID structure of the altitude difference to generate the control of the altitude to the overload command. The normal overload and pitch angle rate serve as the core of the altitude control to enhance the system's ability to resist external interference and the ability to quickly track commands. The specific steps to determine if a gyro drift failure has occurred are as follows:
[0033] If the drone attitude is negative and the duration exceeds the safety threshold, and the vertical speed is continuously positive and exceeds the corresponding threshold, the gyro fault status flag is set to 1:
[0034]
[0035] If the drone attitude is positive and the duration exceeds the safety threshold, and the vertical speed is negative and lower than the corresponding threshold, the gyro fault status flag is set to 2:
[0036]
[0037] in, is the preset vertical speed threshold, θ state is the preset pitch angle threshold, t safe is the duration threshold, Gy stateWhen it is 1 or 2, it is determined that the gyro pitch attitude drift fault occurs, Gy state When it is 0, the gyro pitch attitude output value is judged to be normal.
[0038] Specifically, after the gyro drift fault is detected, the conventional attitude control algorithm is disconnected, and the overload control algorithm based on normal overload and vertical velocity feedback is adopted to control the target drone to complete the mission and recover it safely; the control law of the overload control algorithm based on normal overload and vertical velocity feedback is as follows:
[0039] ΔH=H c -H
[0040] N yg =1+K H ΔH+K IH ΔH+K dH dH
[0041] H c is the height setting, H is the feedback height, dH is the vertical speed feedback, ΔH is the deviation between the given height and the feedback height, N yg is the overload control quantity calculated by the control law, K H , K IH , K dH K is the PID structure control coefficient from the height loop to the overload command, H is the proportionality coefficient, K IH is the integral coefficient, K dH is the differential coefficient, and the corresponding control parameters are designed according to the aerodynamic characteristics of different target drones.
[0042] Example
[0043] (1) Simulate gyro drift situation 1:
[0044] Gyro faults and related identification and protection control algorithms were injected into the flight control system for semi-physical simulation verification. A 1° / s gyro output pitch attitude drift fault was injected for 7 seconds, and the gyro output pitch angle continued to increase in negative value, as shown in the curve. Figure 2 As shown in (a), Figure 2 (a) Pitch feedback curve of gyro with downward drift fault.
[0045] After the gyro pitch attitude drift fault was injected, the attitude and altitude of the target aircraft began to separate, the attitude of the target aircraft was negative, and the flight altitude continued to climb to 1258 meters. After 40 seconds of simulation, the flight control system of the target aircraft judged that the gyro entered a drift fault (the gyro fault flag was 1) according to the algorithm, and the control loop disconnected the pitch angle signal fed back by the gyro, and the alternative control algorithm designed in this paper was used to implement flight control. Figure 2 (b) is the target aircraft altitude control curve after gyro failure. Figure 2(b) The simulated flight curve shows that after the gyro failure, the control algorithm designed in this paper can be used to control the target aircraft to stably follow the altitude setting value, and the target aircraft can continue to complete the flight mission until it is safely recovered. The ground operator can also find the relevant fault status in time through the target aircraft status, intervene in the human-in-the-loop mode, and ensure the safety of the target aircraft. The relevant design achieves the expected design effect.
[0046] (2) Simulate gyro drift situation 2:
[0047] The gyro fault and related identification and protection control algorithms were injected into the flight control system for semi-physical simulation verification. A 1° / s gyro output pitch attitude drift fault was injected at 76s, and the gyro output pitch angle continued to increase. The curve is as follows Figure 3 As shown in (a), Figure 3 (a) Pitch feedback curve for gyro with drift fault injection:
[0048] After the gyro pitch attitude drift fault was injected, the attitude and altitude of the target aircraft began to separate. The attitude of the target aircraft was positive, and the flight altitude continued to drop to 677 meters. After 118 seconds of simulation, the flight control system of the target aircraft judged that the gyro entered a drift fault (the gyro fault flag was 2) according to the algorithm. The control loop disconnected the pitch angle signal fed back by the gyro, and the alternative control algorithm designed in this paper was used to implement flight control. Figure 3 (b) is the target aircraft altitude control curve after gyro failure. Figure 3 (b) The simulated flight curve shows that after the gyro failure, the control algorithm designed in this paper can be used to control the target aircraft to stably follow the altitude setting value, and the target aircraft can continue to complete the flight mission until it is safely recovered. The ground operator can also find the relevant fault status in time through the target aircraft status, intervene in the human-in-the-loop mode, and ensure the safety of the target aircraft. The relevant design achieves the expected design effect.
[0049] From the above semi-physical simulation results, it can be seen that the longitudinal channel control of the target aircraft is carried out by a strong robust overshoot-free control method based on normal overload and vertical velocity feedback, which can achieve stable height control of the target aircraft under the gyro drift fault state, control the target aircraft to complete the mission and recover it safely. This project has strong practicality and does not require additional costs.
[0050] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.
[0051] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.
Claims
1. A safety control algorithm under gyro fault state, characterized in that: The following steps are involved: Step 1: monitor the gyro status of the target drone in real time; Step 2: When the target drone has a drift failure, the height of the target drone is controlled based on the overload control algorithm of normal overload and vertical velocity feedback.
2. The safety control method under gyro fault state according to claim 1, characterized in that: If the target drone raises its head in a positive pitch posture but the altitude drops, or if the target drone lowers its head in a negative pitch posture but the altitude increases, it is judged that the gyro has a drift failure.
3. The safety control method under gyro fault state according to claim 2, characterized in that: The outer loop of the overload control algorithm based on normal overload and vertical speed feedback generates the control of altitude to overload command with a proportional PID structure of altitude difference, and the normal overload and the vertical speed of the target aircraft serve as the core of altitude control.
4. The safety control method under gyro fault state according to claim 2, characterized in that: The specific steps to determine if a gyro drift fault occurs are as follows: If the drone attitude is negative and the duration exceeds the safety threshold, and the vertical speed is continuously positive and exceeds the corresponding threshold, the gyro fault status flag is set to 1: If the drone attitude is positive and the duration exceeds the safety threshold, and the vertical speed is negative and lower than the corresponding threshold, the gyro fault status flag is set to 2: in, is the preset vertical speed threshold, is the preset pitch angle threshold, t safe is the duration threshold, Gy state When it is 1 or 2, it is determined that the gyro pitch attitude drift fault occurs, Gy state When it is 0, the gyro pitch attitude output value is judged to be normal.
5. The safety control method under gyro fault state according to claim 3, characterized in that: After the gyro drift failure is detected, the conventional attitude control algorithm is disconnected and the overload control algorithm based on normal overload and vertical velocity feedback is adopted to control the target drone to complete the mission and recover it safely; the control law of the overload control algorithm based on normal overload and vertical velocity feedback is as follows: ΔH=HH N yg =1+K H ΔH+K IH ΔH+K dH dH H c is the height setting, H is the feedback height, dH is the vertical speed feedback, ΔH is the deviation between the given height and the feedback height, N yg is the overload control quantity calculated by the control law, K H , K IH , K dH K is the PID structure control coefficient from the height loop to the overload command, H is the proportionality coefficient, K IH is the integral coefficient, K dH is the differential coefficient, and the corresponding control parameters are designed according to the aerodynamic characteristics of different target drones.