Fault-tolerant control method and system for wing surface loss and control surface clamping stagnation of fixed-wing unmanned aerial vehicle, electronic equipment and storage medium

Abstract

The invention provides a fixed-wing unmanned aerial vehicle wing surface loss and control surface clamping stagnation fault-tolerant control method and system, electronic equipment and a storage medium, and relates to the technical field of fixed-wing unmanned aerial vehicle attitude control, and the method comprises the steps: constructing a transverse and lateral control law model and a pitch angle control law model of a fixed-wing unmanned aerial vehicle based on an extended state observer ESO; monitoring operation parameters of the fixed-wing unmanned aerial vehicle; inputting the operation parameters into the transverse lateral control law model and the pitch angle control law model to obtain roll angle total disturbance and pitch angle total disturbance; calculating a roll angle control input expected value and a pitch angle control input expected value according to the operation parameters, the roll angle total disturbance calculation and the pitch angle total disturbance calculation; and the roll angle and the pitch angle of the fixed-wing unmanned aerial vehicle are controlled. According to the method, disturbance can be observed in real time, the control input expected value is calculated, the roll angle and the pitch angle of the fixed-wing unmanned aerial vehicle are effectively controlled, the stable attitude is maintained, the out-of-control risk is reduced, and the application reliability in a complex environment and a high-reliability requirement scene is improved.

Description

Background Art

[0002] In the aerospace field, the application of fixed-wing unmanned aerial vehicles (UAVs) is becoming increasingly widespread, and they play an important role in many industries such as geological exploration, meteorological monitoring, and agricultural plant protection. With the continuous expansion of application scenarios, the requirements for the flight performance and reliability of fixed-wing UAVs are also increasing day by day.

[0003] Currently, in the control field of fixed-wing UAVs, the commonly used UAV attitude control method is to decouple the UAV control channels into lateral and longitudinal control channels and perform UAV control through the proportional-integral-derivative (PID) control algorithm. Specifically, by setting appropriate proportional, integral, and derivative parameters, the flight attitude of the UAV, such as the roll angle and pitch angle, is adjusted to make it fly as close as possible to the predetermined trajectory. At the same time, some sensor technologies, such as accelerometers and gyroscopes, are also combined to obtain the flight state parameters of the UAV in real time, and then provide feedback information for the controller to achieve more precise control.

[0004] However, the PID control algorithm has hysteresis in control. Even if angular velocity feedback and a proportional term are introduced into the control loop, there is still no practical effect on advancing the overall phase of the system. At the same time, when the system is subjected to certain disturbances, the system using the PID control algorithm cannot quickly return to stability and is prone to system oscillation. Especially when the aircraft is subjected to large disturbances, such as wing loss or rudder jamming and other fault conditions, it may lead to the divergence of the control system and it is difficult to effectively respond. For example, in the case of wing loss, it will cause significant changes in the aerodynamic characteristics of the UAV, and the PID controller parameters set based on the normal state may no longer be applicable, unable to accurately adjust the attitude, greatly increasing the risk of the UAV flight attitude getting out of control. When the rudder is jammed, since the rudder cannot respond to the controller's instructions normally, the control means using the PID control algorithm cannot make timely adaptive adjustments to this sudden situation, and it will also cause the UAV to be difficult to maintain a stable flight attitude, thereby affecting the normal execution of the task and even possibly causing serious consequences such as the crash of the UAV, greatly limiting the application of fixed-wing UAVs in complex environments and scenarios with high reliability requirements. Summary of the Invention

[0005] Aiming at the technical problems existing in the current control of fixed-wing UAVs using the PID control algorithm, such as being difficult to quickly recover when disturbed, difficult to cope with faults such as wing loss or rudder jamming, and severely limiting the application in complex environments and scenarios with high reliability requirements, the invention provides a fault-tolerant control method, system, electronic device, and storage medium for wing loss and rudder jamming of fixed-wing UAVs, which can observe disturbances in real time and calculate the expected value of the control input, effectively control the roll angle and pitch angle of the fixed-wing UAV, maintain a stable attitude, reduce the risk of out-of-control, and improve the application reliability in complex environments and scenarios with high reliability requirements.

[0006] In a first aspect, the present invention provides a method for fault-tolerant control of wing loss and rudder sticking of a fixed-wing UAV, the steps comprising: S1. Construct the lateral control law model and pitch angle control law model of fixed-wing UAV based on the extended state observer ESO; S2. Obtain the operating parameters of the fixed-wing UAV in real time; S3. Inputting the operating parameters into the lateral control law model to obtain the total disturbance of the roll angle, and inputting the operating parameters into the pitch angle control law model to obtain the total disturbance of the pitch angle; S4. Calculating the expected value of the roll angle control input according to the operating parameters and the total disturbance of the roll angle, and calculating the expected value of the pitch angle control input according to the operating parameters and the total disturbance of the pitch angle; S5. Adjust the roll angle and pitch angle of the fixed-wing UAV according to the roll angle control input expected value and the pitch angle control input expected value.

[0007] It should be further explained that, in step S2, the operating parameters include the aileron rudder deflection angle, the elevator rudder deflection angle, and the pitch angular velocity measurement value and the roll angular velocity measurement value measured by the gyroscope.

[0008] It should be further explained that the ESO expression of the lateral control law model is:

[0009] In the formula, is the rolling angle tracking error; is the ESO estimate of the roll angle; is the roll angle feedback value, which is obtained by integrating the roll angular velocity measurement value and fusing it with the satellite navigation data; is the ESO estimate of the roll angular velocity; is the total disturbance of the rolling angle; for The micro-amount of for The micro-amount of for The micro-amount of is the control proportional coefficient of the aileron rudder deflection angle to the roll angle, that is, the static gain of the transfer function of the lateral roll angle of the fixed-wing UAV to the aileron rudder deflection angle; is the aileron rudder deflection angle; , and is the ESO coefficient of the roll angle channel; are the parameters of the roll angle observer to be adjusted, which are given by the numerical simulation experiment of the control law.

[0010] It should be further explained that, in step S1, the ESO expression of the pitch angle control law model is:

[0011] In the formula, is the pitch angle tracking error; is the ESO estimate of the pitch angle; is the pitch angle feedback value, which is obtained by integrating the pitch angular velocity measurement value and fusing it with the satellite navigation data; is the ESO estimate of the pitch angular velocity; is the total disturbance of the pitch angle; for The micro-amount of for The micro-amount of for The micro-amount of is the control proportional coefficient of the elevator deflection angle to the pitch angle, that is, the static gain of the transfer function of the longitudinal pitch angle of the fixed-wing UAV to the elevator deflection angle; is the elevator rudder deflection angle; , and is the ESO coefficient of the pitch angle channel; The pitch angle observer parameters to be adjusted are given by the numerical simulation experiment of the control law.

[0012] It should be further explained that, in step S4, the roll angle control input expected value is the aileron rudder deflection angle expected value, and the calculation formula of the aileron rudder deflection angle expected value is:

[0013] In the formula, is the roll angle error proportional term coefficient in the roll angle control law, which is given by the control law simulation test; It is the feedback proportional value of the roll angular velocity measurement; is the given value of the roll angle, which is given manually or by the route planning level; is the measured value of the rolling angular velocity; is the intermediate state variable; is the expected value of the aileron rudder deflection angle, which is the calculated output of the control law.

[0014] It should be further explained that, in step S4, the pitch angle control input expected value is the elevator angle expected value, and the calculation formula of the elevator angle expected value is:

[0015] In the formula, is the pitch angle error proportional term coefficient in the pitch angle control law, which is given by the control law simulation test; It is the pitch angular velocity measurement feedback proportional value; is the given value of the pitch angle, which is given manually or by the route planning level; is the measured value of pitch angular velocity; is the intermediate state variable; is the expected value of the elevator deflection angle, which is the calculated output of the control law.

[0016] It should be further explained that in step S5, the aileron rudder deflection angle is controlled by controlling the aileron servo or flaperon rudder of the fixed-wing UAV, thereby adjusting the roll angle of the fixed-wing UAV; the elevator deflection angle is controlled by controlling the left horizontal tail servo and the right horizontal tail servo of the fixed-wing UAV, thereby adjusting the pitch angle of the fixed-wing UAV.

[0017] In a second aspect, the present invention provides a fixed-wing UAV wing loss and rudder surface stuck fault-tolerant control system, which is used to implement the fixed-wing UAV wing loss and rudder surface stuck fault-tolerant control method, comprising: Expand the state observer module to build the lateral control law model and pitch angle control law model of the fixed-wing UAV; Operation parameter monitoring module, used to continuously monitor various operation parameters of fixed-wing UAVs; The control law model calculation module includes a lateral control law model calculation submodule and a pitch angle control law model calculation submodule. The lateral control law model calculation submodule is used to receive the operating parameters from the operating parameter monitoring module and input them into the lateral control law model constructed based on ESO, so as to calculate the total disturbance of the rolling angle; the pitch angle control law model calculation submodule is used to receive the information of the operating parameter monitoring module and input it into the pitch angle control law model constructed based on ESO, so as to obtain the total disturbance of the pitch angle; The control input expected value calculation module includes a roll angle control input expected value calculation submodule and a pitch angle control input expected value calculation submodule. The roll angle control input expected value calculation submodule is used to calculate the roll angle control input expected value according to the operating parameters observed by the operating parameter monitoring module and the total disturbance of the roll angle obtained by the lateral control law model calculation module; the pitch angle control input expected value calculation submodule is used to calculate the pitch angle control input expected value according to the operating parameters provided by the operating parameter monitoring module and the total disturbance of the pitch angle obtained by the pitch angle control law model calculation module; The control execution module is used to adjust the roll angle and pitch angle of the fixed-wing UAV according to the expected value of the roll angle control input and the expected value of the pitch angle control input.

[0018] In a third aspect, the present invention provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor is configured to implement the steps of the above-mentioned fixed-wing UAV wing loss and rudder surface sticking fault-tolerant control method when executing the computer program.

[0019] In a fourth aspect, the present invention provides a storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the above-mentioned fixed-wing UAV wing surface loss and rudder surface jamming fault-tolerant control method.

[0020] The beneficial effects of the present invention are: The fixed-wing UAV wing loss and rudder stuck fault-tolerant control method provided by the present invention can accurately observe the total roll angle disturbance and pitch angle disturbance caused by the change of aerodynamic characteristics caused by wing loss or rudder stuck in real time through the lateral control law model and pitch angle control law model constructed based on the extended state observer ESO, and then calculate the appropriate roll angle control input expected value and pitch angle control input expected value based on these disturbances and the real-time monitored operating parameters, so as to achieve effective control of the roll angle and pitch angle of the UAV, and even in the case of wing loss or rudder stuck, the stable flight attitude of the UAV can be maintained to the greatest extent, the risk of flight attitude loss of control can be reduced, and the smooth progress of the mission can be ensured. Serious consequences such as UAV crash caused by wing loss or rudder stuck are avoided, and the application reliability of fixed-wing UAV in complex environments and high reliability requirements is greatly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solution of the present invention, the accompanying drawings required for use in the description will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0022] Figure 1 It is a flow chart of a method for fault-tolerant control of wing loss and rudder sticking of a fixed-wing UAV in one embodiment of the present invention.

[0023] Figure 2 It is a schematic block diagram of a fixed-wing UAV wing loss and rudder surface sticking fault-tolerant control system in one embodiment of the present invention.

[0024] Figure 3 It is a schematic diagram of the hardware structure of an electronic device in one embodiment of the present invention. DETAILED DESCRIPTION

[0025] In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, the technical scheme of the present invention will be clearly and completely described below in conjunction with the drawings in this specific embodiment. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of them. Based on the embodiments in this patent, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this patent.

[0026] The fixed-wing UAV wing loss and rudder stuck fault-tolerant control method involved in this application is mainly aimed at the fixed-wing UAV attitude control technology field. In the attitude control of the fixed-wing UAV, the lateral control law model and the pitch angle control law model constructed based on the extended state observer ESO can accurately observe the total roll angle disturbance and the total pitch angle disturbance caused by the change of aerodynamic characteristics caused by the wing loss or rudder stuck in real time, and then calculate the appropriate roll angle control input expected value and pitch angle control input expected value according to these disturbances and the real-time monitored operating parameters, so as to achieve effective control of the roll angle and pitch angle of the UAV, even in the case of wing loss or rudder stuck, it can maintain the stable flight attitude of the UAV to the greatest extent, reduce the risk of flight attitude out of control, and ensure the smooth progress of the mission. Avoid serious consequences such as UAV crashes due to wing loss or rudder stuck, and greatly improve the application reliability of fixed-wing UAVs in complex environments and high reliability scenarios.

[0027] The fixed-wing UAV wing loss and rudder sticking fault-tolerant control method involved in this application is mainly aimed at the technical problems that the existing fixed-wing UAV control using PID control algorithm is difficult to recover quickly due to disturbances, difficult to deal with faults such as wing loss or rudder sticking, and severely limits its application in complex environments and scenarios with high reliability requirements.

[0028] The following is a detailed description of the fixed-wing UAV wing loss and rudder surface stuck fault-tolerant control method involved in the present application. For the purpose of illustration rather than limitation, specific details such as specific system structures and technologies are proposed to facilitate a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application can also be implemented in other embodiments without these specific details.

[0029] In the fixed-wing UAV wing loss and rudder surface stuck fault-tolerant control method involved in the present application, the term "including" used indicates the existence of the described features, wholes, steps, operations, elements and / or components, but does not exclude the existence or addition of one or more other features, wholes, steps, operations, elements, components and / or their collections. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized.

[0030] In order to clearly describe the technical solution of the present application, the words "first", "second" and the like are used to distinguish the same or similar items with substantially the same functions and effects. Those skilled in the art can understand that the words "first", "second" and the like do not limit the quantity and execution order, and the words "first", "second" and the like do not necessarily limit the difference.

[0031] The phrases such as "one embodiment" or "some embodiments" described in the present application mean that the specific features, structures or characteristics described in the embodiment are included in one or more embodiments of the present application. Therefore, the phrases such as "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments" etc. that appear in different places in the present application do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways.

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] The fixed-wing UAV wing loss and rudder surface sticking fault-tolerant control method provided by the embodiment of the present invention is executed by a computer device, and accordingly, the fixed-wing UAV wing loss and rudder surface sticking fault-tolerant control system runs in the computer device.

[0034] Figure 1 The flowchart of the method for fault-tolerant control of wing loss and rudder sticking of fixed-wing UAV according to one embodiment of the present invention is shown in FIG. Figure 1 The execution subject can be a fixed-wing UAV wing loss and rudder stuck fault-tolerant control system. According to different requirements, the order of the steps in the flow chart can be changed, and some can be omitted.

[0035] like Figure 1 As shown, the fixed-wing UAV wing loss and rudder surface stuck fault-tolerant control method includes: Step S1, constructing a lateral control law model and a pitch angle control law model of a fixed-wing UAV based on an extended state observer ESO.

[0036] The control law model is constructed based on the extended state observer (ESO), which lays the foundation for the subsequent accurate observation of disturbances and calculation of the expected value of control input. It enables the UAV control system to actively adapt to changes in aerodynamic characteristics caused by wing loss or rudder sticking, thereby improving the adaptability and robustness of the system.

[0037] In some specific embodiments, the ESO expression of the lateral control law model is:

[0038] In the formula, is the rolling angle tracking error; is the ESO estimate of the roll angle; is the roll angle feedback value, which is obtained by integrating the roll angular velocity measurement value and fusing it with the satellite navigation data; is the ESO estimate of the roll angular velocity; is the total disturbance of the rolling angle; for The micro-amount of for The micro-amount of for The micro-amount of is the control proportional coefficient of the aileron rudder deflection angle to the roll angle, that is, the static gain of the transfer function of the lateral roll angle of the fixed-wing UAV to the aileron rudder deflection angle; is the aileron rudder deflection angle; , and is the ESO coefficient of the roll angle channel; are the parameters of the roll angle observer to be adjusted, which are given by the numerical simulation experiment of the control law.

[0039] Clear ESO expressions and parameter definitions enable accurate observation of roll angle-related states through mathematical models, provide a theoretical basis for accurate calculation of the total roll angle disturbance, and help to respond to changes in the roll angle in a timely manner during control.

[0040] In some specific embodiments, the ESO expression of the pitch angle control law model is:

[0041] In the formula, is the pitch angle tracking error; is the ESO estimate of the pitch angle; is the pitch angle feedback value, which is obtained by integrating the pitch angular velocity measurement value and fusing it with the satellite navigation data; is the ESO estimate of the pitch angular velocity; is the total disturbance of the pitch angle; for The micro-amount of for The micro-amount of is the differential component of; is the control proportionality coefficient of elevator deflection angle to pitch angle, that is, the static gain of the transfer function of the longitudinal pitch angle of the fixed-wing UAV to elevator deflection angle; is the elevator deflection angle; , and are the ESO coefficients of the pitch angle channel; is the parameter of the pitch angle observer to be tuned, which is given by the numerical simulation test of the control law.

[0042] The clear ESO expression and the definition of each parameter enable the accurate observation of the pitch angle-related states through the mathematical model, providing a theoretical basis for accurately calculating the total pitch angle disturbance and helping to respond promptly to the changes in the pitch angle during control.

[0043] Step S2, obtain the operating parameters of the fixed-wing UAV in real time.

[0044] Obtaining the operating parameters in real time provides the system with real-time information on the current flight state of the UAV, enabling the control law model to calculate and adjust according to the actual situation, ensuring the accuracy and timeliness of the control.

[0045] In some specific embodiments, the operating parameters include aileron deflection angle, elevator deflection angle, and the measured pitch angular velocity value and roll angular velocity value measured by a gyroscope.

[0046] Obtaining comprehensive and accurate operating parameters provides a rich data basis for subsequent accurate calculation of disturbances and control input expected values, helping to more precisely grasp the flight state of the UAV and thus achieve more effective attitude control.

[0047] Step S3, input the operating parameters into the lateral control law model to obtain the total roll angle disturbance, and input the operating parameters into the pitch angle control law model to obtain the total pitch angle disturbance.

[0048] Inputting the operating parameters into the model to calculate the total roll angle and pitch angle disturbances can timely detect the disturbances caused by factors such as faults, providing a key basis for subsequent targeted calculation of the control input expected value and helping the system to quickly respond to maintain stability.

[0049] Step S4, calculate the expected value of the roll angle control input according to the operating parameters and the total roll angle disturbance, and calculate the expected value of the pitch angle control input according to the operating parameters and the total pitch angle disturbance.

[0050] By calculating the expected value of the control input based on the operating parameters and disturbances and taking into account a variety of factors, accurate control instructions can be obtained so that the roll and pitch angles of the drone can be adjusted in the desired manner, effectively responding to various flight state changes and fault conditions.

[0051] In some specific embodiments, the roll angle control input expected value is an aileron rudder deflection angle expected value, and the calculation formula of the aileron rudder deflection angle expected value is:

[0052] In the formula, is the roll angle error proportional term coefficient in the roll angle control law, which is given by the control law simulation test; It is the feedback proportional value of the roll angular velocity measurement; is the given value of the roll angle, which is given manually or by the route planning level; is the measured value of the rolling angular velocity; is the intermediate state variable; is the expected value of the aileron rudder deflection angle, which is the calculated output of the control law.

[0053] The calculation formula for the expected value of the aileron rudder deflection angle comprehensively considers multiple factors such as the roll angle error proportional term coefficient, the roll angular velocity measurement feedback proportional value, the roll angle given value, the roll angular velocity measurement value, and the total roll angle disturbance. It can calculate the appropriate expected value of the aileron rudder deflection angle, which is convenient for accurately adjusting the roll angle in subsequent steps to achieve stable control.

[0054] In some specific embodiments, the pitch angle control input expected value is an elevator angle expected value, and the calculation formula of the elevator angle expected value is:

[0055] In the formula, is the pitch angle error proportional term coefficient in the pitch angle control law, which is given by the control law simulation test; It is the pitch angular velocity measurement feedback proportional value; is the given value of the pitch angle, which is given manually or by the route planning level; is the measured value of pitch angular velocity; is the intermediate state variable; is the expected value of the elevator deflection angle, which is the calculated output of the control law.

[0056] The calculation formula for the expected value of the elevator angle takes into account many factors, including the pitch angle error proportional coefficient, the pitch angle velocity measurement feedback proportional value, the pitch angle given value, the pitch angle velocity measurement value and the total pitch angle disturbance. It can calculate the appropriate expected value of the elevator angle, thereby accurately adjusting the pitch angle and achieving stable control.

[0057] Step S5, adjusting the roll angle and pitch angle of the fixed-wing UAV according to the roll angle control input expected value and the pitch angle control input expected value.

[0058] The roll and pitch angles are adjusted according to the expected values ​​obtained by calculation, thus achieving actual control of the UAV's attitude and converting theoretical calculations into actual actions, ensuring that the UAV can maintain a stable flight attitude in complex situations such as wing loss or rudder jamming, thereby reducing the risk of loss of control.

[0059] In some specific embodiments, the aileron rudder deflection angle is controlled by controlling the aileron servo or flaperon rudder of the fixed-wing UAV, thereby adjusting the roll angle of the fixed-wing UAV; the elevator deflection angle is controlled by controlling the left horizontal tail servo and the right horizontal tail servo of the fixed-wing UAV, thereby adjusting the pitch angle of the fixed-wing UAV.

[0060] Clarify the specific control execution method, adjust the rudder angle by controlling the corresponding servo, and then achieve effective adjustment of the roll angle and pitch angle, convert the calculated control input expected value into an actual attitude adjustment action, and ensure stable control of the UAV's flight attitude.

[0061] In a specific embodiment, the fixed-wing UAV wing loss and rudder surface stuck fault-tolerant control method includes: Step S1, constructing a lateral control law model and a pitch angle control law model of the fixed-wing UAV based on an extended state observer ESO; Among them, the ESO expression of the lateral control law model is:

[0062] In the formula, is the rolling angle tracking error; is the ESO estimate of the roll angle; is the roll angle feedback value, which is obtained by integrating the roll angular velocity measurement value and fusing it with the satellite navigation data; is the ESO estimate of the roll angular velocity; is the total disturbance of the rolling angle; for The micro-amount of for The micro-amount of for The micro-amount of is the control proportional coefficient of the aileron rudder deflection angle to the roll angle, that is, the static gain of the transfer function of the lateral roll angle of the fixed-wing UAV to the aileron rudder deflection angle; is the aileron rudder deflection angle; , and is the ESO coefficient of the roll angle channel; are the parameters of the roll angle observer to be adjusted, which are given by the numerical simulation experiment of the control law; The ESO expression of the pitch angle control law model is:

[0063] In the formula, is the pitch angle tracking error; is the ESO estimate of the pitch angle; is the pitch angle feedback value, which is obtained by integrating the pitch angular velocity measurement value and fusing it with the satellite navigation data; is the ESO estimate of the pitch angular velocity; is the total disturbance of the pitch angle; for The micro-amount of for The micro-amount of for The micro-amount of is the control proportional coefficient of the elevator deflection angle to the pitch angle, that is, the static gain of the transfer function of the longitudinal pitch angle of the fixed-wing UAV to the elevator deflection angle; is the elevator rudder deflection angle; , and is the ESO coefficient of the pitch angle channel; are the pitch angle observer parameters to be adjusted, which are given by the numerical simulation test of the control law; Step S2, obtaining the operating parameters of the fixed-wing UAV in real time, the operating parameters including aileron rudder deflection angle, elevator rudder deflection angle, and pitch angular velocity measurement value and roll angular velocity measurement value measured by a gyroscope; Step S3, inputting the operating parameters into the lateral control law model to obtain the total disturbance of the roll angle, and inputting the operating parameters into the pitch angle control law model to obtain the total disturbance of the pitch angle; Step S4, calculating the expected value of the roll angle control input according to the operating parameters and the total disturbance of the roll angle, and calculating the expected value of the pitch angle control input according to the operating parameters and the total disturbance of the pitch angle; Among them, the expected value of the roll angle control input is the expected value of the aileron rudder deflection angle, and the calculation formula of the expected value of the aileron rudder deflection angle is:

[0064] In the formula, is the roll angle error proportional term coefficient in the roll angle control law, which is given by the control law simulation test; It is the feedback proportional value of the roll angular velocity measurement; is the given value of the roll angle, which is given manually or by the route planning level; is the measured value of the rolling angular velocity; is the intermediate state variable; is the expected value of the aileron rudder deflection angle, which is the calculated output of the control law; The expected value of the pitch angle control input is the expected value of the elevator angle. The calculation formula of the expected value of the elevator angle is:

[0065] In the formula, is the pitch angle error proportional term coefficient in the pitch angle control law, which is given by the control law simulation test; It is the pitch angular velocity measurement feedback proportional value; is the given value of the pitch angle, which is given manually or by the route planning level; is the measured value of pitch angular velocity; is the intermediate state variable; is the expected value of the elevator deflection angle, which is the calculated output of the control law; Step S5, adjusting the roll angle and pitch angle of the fixed-wing UAV according to the roll angle control input expected value and the pitch angle control input expected value; Among them, the aileron rudder deflection angle is controlled by controlling the aileron servo or flaperon rudder of the fixed-wing UAV, thereby adjusting the roll angle of the fixed-wing UAV; the elevator deflection angle is controlled by controlling the left horizontal tail servo and the right horizontal tail servo of the fixed-wing UAV, thereby adjusting the pitch angle of the fixed-wing UAV.

[0066] Using the above-mentioned fixed-wing UAV wing loss and rudder stuck fault-tolerant control method, an aileron rudder stuck simulation test was carried out under the setting conditions of an altitude of 3000m and a speed of 26m / s. The right aileron servo was set to the positions of -15° and +15° respectively to test whether the control law can automatically correct the aircraft attitude and complete the response turning control function; the simulation time was set to 50s, the initial attitude of the UAV was 0, and the initial heading angle was 219°.

[0067] At 11.49s after the start of the simulation experiment, the right aileron servo of the fixed-wing UAV was stuck at -15°, and a roll angular velocity was generated at this time, causing a disturbance in the roll angle. The peak value of the roll angle disturbance was 1.795°, and the time was 12.343. After being processed by the fixed-wing UAV wing surface loss and rudder surface stuck fault-tolerant control method, the aircraft returned to level at around 17.5s, with a total correction time of about 6s, and the left aileron made a +15° rudder correction.

[0068] When the right aileron servo was stuck at -15°, the aircraft was controlled to execute a +25° roll command. The aircraft received the 25° roll command at 23.952s and reached a steady state at 31.925s. The steady-state roll angle was 24.78° and the steady-state error was 0.22°.

[0069] It can be seen that when the rudder surface is stuck, the control method of this embodiment can be used to control the fixed-wing UAV to correct the aircraft attitude, and after the rudder surface is stuck and the action command is received, the control method of this embodiment can correct the received action command before executing it to maintain the stability of the fixed-wing UAV.

[0070] The following is an embodiment of a fixed-wing UAV wing loss and rudder sticking fault-tolerant control system provided by an embodiment of the present disclosure. The active load reduction optimization system and the fixed-wing UAV wing loss and rudder sticking fault-tolerant control method of the above-mentioned embodiments belong to the same inventive concept. For details not fully described in the embodiments of the fixed-wing UAV wing loss and rudder sticking fault-tolerant control system, reference can be made to the embodiments of the above-mentioned fixed-wing UAV wing loss and rudder sticking fault-tolerant control method.

[0071] A mobile terminal implementing various embodiments of the present invention will now be described with reference to the accompanying drawings. In the subsequent description, suffixes such as "module", "component" or "unit" used to represent elements are used only to facilitate the description of the embodiments of the present invention and have no specific meaning in themselves. Therefore, "module" and "component" can be used interchangeably.

[0072] like Figure 2 As shown, the fixed-wing UAV wing loss and rudder surface stuck fault-tolerant control system includes: Expand the state observer module to build the lateral control law model and pitch angle control law model of the fixed-wing UAV; Operation parameter monitoring module, used to continuously monitor various operation parameters of fixed-wing UAVs; The control law model calculation module includes a lateral control law model calculation submodule and a pitch angle control law model calculation submodule. The lateral control law model calculation submodule is used to receive the operating parameters from the operating parameter monitoring module and input them into the lateral control law model constructed based on ESO, so as to calculate the total disturbance of the rolling angle; the pitch angle control law model calculation submodule is used to receive the information of the operating parameter monitoring module and input it into the pitch angle control law model constructed based on ESO, so as to obtain the total disturbance of the pitch angle; The control input expected value calculation module includes a roll angle control input expected value calculation submodule and a pitch angle control input expected value calculation submodule. The roll angle control input expected value calculation submodule is used to calculate the roll angle control input expected value according to the operating parameters observed by the operating parameter monitoring module and the total disturbance of the roll angle obtained by the lateral control law model calculation module; the pitch angle control input expected value calculation submodule is used to calculate the pitch angle control input expected value according to the operating parameters provided by the operating parameter monitoring module and the total disturbance of the pitch angle obtained by the pitch angle control law model calculation module; The control execution module is used to adjust the roll angle and pitch angle of the fixed-wing UAV according to the expected value of the roll angle control input and the expected value of the pitch angle control input.

[0073] The present application also provides an electronic device for implementing various embodiments of the present invention. The electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor.

[0074] Those skilled in the art will appreciate that the electronic device structure involved in the embodiments of the present invention does not constitute a limitation on the electronic device, and the electronic device may include more or fewer components than shown in the figure, or a combination of certain components, or a different arrangement of components.

[0075] Figure 3 A schematic diagram of the hardware structure of an electronic device for implementing various embodiments of the present invention.

[0076] The electronic device 500 includes, but is not limited to, components such as a processor 501, a network module 502, an audio output unit 503, an input unit 504, a display unit 506, a user input unit 507, an interface unit 508, and a memory 509. Those skilled in the art will appreciate that the electronic device structure involved in the embodiments of the present invention does not constitute a limitation on the electronic device, and the electronic device may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0077] In the embodiments of the present invention, electronic devices include but are not limited to laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. Electronic devices can also represent various forms of mobile devices and other similar computing devices. The components shown herein, their connections and relationships, and their functions are only examples and are not intended to limit the implementation of the embodiments of the present application described and / or required herein.

[0078] In the embodiment of the present application, the processor 501 can be implemented by using at least one of an application-specific integrated circuit (ASIC), a digital signal processor (DSP), a digital signal processing device (DSPD), a processor, a controller, a microcontroller, a microprocessor, and an electronic unit designed to perform the functions described herein. In some cases, such an implementation can be implemented in a controller. For software implementation, implementations such as processes or functions can be implemented with separate software modules that allow execution of at least one function or operation. The software code can be implemented by a software application (or program) written in any appropriate programming language, and the software code can be stored in a memory and executed by a controller.

[0079] The display unit 506 is used to display information input by the user or information provided to the user. The display unit 506 may include a display panel, which may be configured in the form of a liquid crystal display (LCD), an organic light-emitting diode (OLED), etc.

[0080] The user input unit 507 may include, but is not limited to, a physical keyboard, function keys (such as a volume control key, a switch key, etc.), a trackball, a mouse, and a joystick, which will not be described in detail here.

[0081] The interface unit 508 is an interface for connecting external devices to the electronic device 500. For example, the external devices may include a wired or wireless headset port, an external power supply (or battery charger) port, a wired or wireless data port, a memory card port, a port for connecting a device with an identification module, an audio input / output (I / O) port, a video I / O port, an earphone port, and the like.

[0082] In addition, the electronic device 500 includes some functional modules not shown, which will not be described in detail here.

[0083] Those skilled in the art will appreciate that the various aspects of the electronic device provided by the present application may be implemented as a system, method or program product. Therefore, the various aspects of the present disclosure may be specifically implemented in the following forms, namely: a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or an implementation combining hardware and software, which may be collectively referred to as a "circuit", "module" or "system" herein.

[0084] The present application also provides a storage medium, in which a program product capable of implementing a method for fault-tolerant control of wing loss and rudder jamming of a fixed-wing UAV is stored. In some possible implementations, various aspects of the present disclosure may also be implemented in the form of a program product, which includes a program code, and when the program product is run on a terminal device, the program code is used to enable the terminal device to execute the steps according to various exemplary implementations of the present disclosure described in the above “Exemplary Method” section of this specification.

[0085] The storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0086] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for fault-tolerant control of wing loss and rudder stuck of fixed-wing UAV, characterized in that the steps include: S1. Construct the lateral control law model and pitch angle control law model of fixed-wing UAV based on the extended state observer ESO; S2. Obtain the operating parameters of the fixed-wing UAV in real time; S3. Inputting the operating parameters into the lateral control law model to obtain the total disturbance of the roll angle, and inputting the operating parameters into the pitch angle control law model to obtain the total disturbance of the pitch angle; S4. Calculating the expected value of the roll angle control input according to the operating parameters and the total disturbance of the roll angle, and calculating the expected value of the pitch angle control input according to the operating parameters and the total disturbance of the pitch angle; S5. Adjust the roll angle and pitch angle of the fixed-wing UAV according to the roll angle control input expected value and the pitch angle control input expected value.

2. The method for controlling wing loss and rudder sticking fault-tolerant of fixed-wing UAV according to claim 1, characterized in that: In step S2, the operating parameters include an aileron rudder deflection angle, an elevator rudder deflection angle, and a pitch angular velocity measurement value and a roll angular velocity measurement value measured by a gyroscope.

3. The method for controlling wing loss and rudder sticking fault-tolerant of fixed-wing UAV according to claim 2, characterized in that: In step S1, the ESO expression of the lateral control law model is: In the formula, is the rolling angle tracking error; is the ESO estimate of the roll angle; is the roll angle feedback value, which is obtained by integrating the roll angular velocity measurement value and fusing it with the satellite navigation data; is the ESO estimate of the roll angular velocity; is the total disturbance of the rolling angle; for The micro-amount of for The micro-amount of for The micro-amount of is the control proportional coefficient of the aileron rudder deflection angle to the roll angle, that is, the static gain of the transfer function of the lateral roll angle of the fixed-wing UAV to the aileron rudder deflection angle; is the aileron rudder deflection angle; , and is the ESO coefficient of the roll angle channel; are the parameters of the roll angle observer to be adjusted, which are given by the numerical simulation experiment of the control law.

4. The method for controlling wing loss and rudder sticking fault-tolerant of fixed-wing UAV according to claim 2, characterized in that: In step S1, the ESO expression of the pitch angle control law model is: In the formula, is the pitch angle tracking error; is the ESO estimate of the pitch angle; is the pitch angle feedback value, which is obtained by integrating the pitch angular velocity measurement value and fusing it with the satellite navigation data; is the ESO estimate of the pitch angular velocity; is the total disturbance of the pitch angle; for The micro-amount of for The micro-amount of for The micro-amount of is the control proportional coefficient of the elevator deflection angle to the pitch angle, that is, the static gain of the transfer function of the longitudinal pitch angle of the fixed-wing UAV to the elevator deflection angle; is the elevator rudder deflection angle; , and is the ESO coefficient of the pitch angle channel; The pitch angle observer parameters to be adjusted are given by the numerical simulation experiment of the control law.

5. The method for controlling wing loss and rudder sticking fault-tolerant of fixed-wing UAV according to claim 3, characterized in that: In step S4, the roll angle control input expected value is the aileron rudder deflection expected value, and the calculation formula of the aileron rudder deflection expected value is: In the formula, is the roll angle error proportional term coefficient in the roll angle control law, which is given by the control law simulation test; It is the feedback proportional value of the roll angular velocity measurement; is the given value of the roll angle, which is given manually or by the route planning level; is the measured value of the rolling angular velocity; is the intermediate state variable; is the expected value of the aileron rudder deflection angle, which is the calculated output of the control law.

6. The method for controlling wing loss and rudder sticking fault-tolerant of fixed-wing UAV according to claim 4, characterized in that: In step S4, the pitch angle control input expected value is the elevator angle expected value, and the calculation formula of the elevator angle expected value is: In the formula, is the pitch angle error proportional term coefficient in the pitch angle control law, which is given by the control law simulation test; It is the pitch angular velocity measurement feedback proportional value; is the given value of the pitch angle, which is given manually or by the route planning level; is the measured value of pitch angular velocity; is the intermediate state variable; is the expected value of the elevator deflection angle, which is the calculated output of the control law.

7. The method for controlling wing loss and rudder sticking fault-tolerant of fixed-wing UAV according to claim 1, characterized in that: In step S5, the aileron rudder deflection angle is controlled by controlling the aileron servo or flaperon rudder of the fixed-wing UAV, thereby adjusting the roll angle of the fixed-wing UAV; The pitch angle of the fixed-wing UAV is adjusted by controlling the left and right horizontal tail servos of the fixed-wing UAV to control the elevator deflection angle.

8. A fixed-wing UAV wing loss and rudder surface stuck fault-tolerant control system, characterized in that: A method for realizing a fixed-wing UAV wing loss and rudder surface stuck fault-tolerant control method as claimed in any one of claims 1 to 7, comprising: Expand the state observer module to build the lateral control law model and pitch angle control law model of the fixed-wing UAV; Operation parameter monitoring module, used to continuously monitor various operation parameters of fixed-wing UAVs; The control law model calculation module includes a lateral control law model calculation submodule and a pitch angle control law model calculation submodule. The lateral control law model calculation submodule is used to receive the operating parameters from the operating parameter monitoring module and input them into the lateral control law model constructed based on ESO, so as to calculate the total disturbance of the rolling angle; the pitch angle control law model calculation submodule is used to receive the information of the operating parameter monitoring module and input it into the pitch angle control law model constructed based on ESO, so as to obtain the total disturbance of the pitch angle; The control input expected value calculation module includes a roll angle control input expected value calculation submodule and a pitch angle control input expected value calculation submodule. The roll angle control input expected value calculation submodule is used to calculate the roll angle control input expected value according to the operating parameters observed by the operating parameter monitoring module and the total disturbance of the roll angle obtained by the lateral control law model calculation module; the pitch angle control input expected value calculation submodule is used to calculate the pitch angle control input expected value according to the operating parameters provided by the operating parameter monitoring module and the total disturbance of the pitch angle obtained by the pitch angle control law model calculation module; The control execution module is used to adjust the roll angle and pitch angle of the fixed-wing UAV according to the expected value of the roll angle control input and the expected value of the pitch angle control input.

9. An electronic device, characterized in that: The invention comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor is used to implement the steps of the fixed-wing UAV wing surface loss and rudder surface jamming fault-tolerant control method as described in any one of claims 1 to 7 when executing the computer program.

10. A storage medium, characterized in that: A computer program is stored on the storage medium, and when the computer program is executed by the processor, the steps of the fixed-wing UAV wing loss and rudder surface jamming fault-tolerant control method as described in any one of claims 1-7 are implemented.

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