272 results about "Fault tolerant controller" patented technology

The invention relates to a quadrotor unmanned aerial vehicle attitude control system modeling and finite time attitude tracking control method, in particular to a quadrotor unmanned aerial vehicle finite time attitude tracking control method. Disturbance torque with which a quadrotor unmanned aerial vehicle is confronted is comprehensively analyzed, rotating inertia is unknown, output saturation and actuator failure and other factors are controlled, a passive fault-tolerant controller is designed on the basis of a parameter adaptive method, and the finite time stabilizing function is achieved. The method comprises the steps of 1 building a quadrotor unmanned aerial vehicle attitude tracking kinematic model, 2 building a quadrotor unmanned aerial vehicle attitude tracking kinetic model, 3 defining quadrotor unmanned aerial vehicle attitude smoothing errors, 4 designing a finite time integral sliding mode surface, and 5 designing a quadrotor unmanned aerial vehicle finite time attitude tracking controller. The method is used for the field of unmanned aerial vehicle flight control.

The invention presents a design method of a four-rotor fault-tolerant controller based on a nonlinear observer. The method includes the following steps: establishing a dynamic model of a four-rotor unmanned aerial vehicle (UAV), and dividing the UAV system into an attitude subsystem and a position subsystem; for the attitude subsystem, establishing a fault model, designing a nonlinear fault observer, carrying out real-time detection and online estimation on an unknown actuator fault, and designing a fault-tolerant controller based on a fast non-singular terminal sliding mode method by using the obtained fault estimation information; and for the position subsystem, inversely solving the control rate and the desired attitude angle of the position subsystem by combining a backstepping methodand a sliding mode method and designing an intermediate virtual quantity. A four-rotor UAV is enabled to track the desired position and yaw angle even when the actuator fails, so as to ensure the stability of the pitch angle and roll angle.

The invention discloses a near spacecraft fault diagnosis and fault-tolerant control method. Firstly, a dynamical model of an attitude control system of a reentry phase of a near spacecraft is established and the dynamical model of the attitude control system is transferred to a nonlinear equation in a general type through coordinate transformation; secondly, a fault model with actuator invalidation and actuator dynamic damage existing simultaneously is established; thirdly, real-time online estimation of self-adaption estimation observer to actuator dynamic damage factors and actuator invalidation factors is respectively established; and finally a sliding module fault-tolerant controller is designed through the estimated actuator dynamic damage factors and the estimated actuator invalidation factors and parameters of the controller is updated in real time. According to the near spacecraft fault diagnosis and fault-tolerant control method, in the condition that when the actuator dynamic damage and the actuator invalidation occur simultaneously in a flight control system, fault information can be estimated rapidly and accurately, strong fault-tolerant capacity is achieved and an expected requirement of the flight control system is reached.

The invention discloses a vertical take-off and landing airplane robust fault-tolerant control system and method based on cascaded observers, and belongs to the technical field of aircraft control. A vertical take-off and landing airplane dynamical model taking external disturbance and actuator faults into consideration is built, the dynamical model is converted into a non-linear model in a standard form, the disturbance, the faults and state variables are estimated in real time by using the disturbance observer and the fault diagnosis observer which is in cascade connection with the disturbance observer, the non-linear model is decoupled into two subsystems, the control rate of each subsystem is determined, and the fault-tolerant control rate is determined according to the control rates and fault estimation values of the two subsystems. Under the action of a fault-tolerant controller, the system taking effects of the external disturbance and the faults into consideration compensates for the faults and the disturbance in real time, influence of the faults and the disturbance is reduced rapidly, and robustness of the control system is improved.

The invention relates to a satellite fault diagnosis and fault-tolerant control method based on a T-S fuzzy model and a learning observer. The satellite fault diagnosis and fault-tolerant control method based on the T-S fuzzy model and the learning observer is used for solving the problems that a conventional fault diagnosis method cannot be used for effectively treating the influence caused by space disturbance torque and ensuring the robustness of a fault diagnosis method, and a conventional fault-tolerant control method has a poor fault-tolerant property. The satellite fault diagnosis and fault-tolerant control method based on the T-S fuzzy model and the learning observer comprises the following steps: step 1. establishing a mathematical model of a non-linear satellite attitude control system; step 2. establishing the T-S fuzzy model of the satellite attitude control system by using results obtained in the step 1; step 3. designing a T-S fuzzy learning observer by using the results obtained in the step 2 so as to realize the robust fault detection, isolation and fault reconstruction of a satellite attitude angular velocity estimation and executing mechanism; 4. designing a state feedback fault-tolerant controller by using the results obtained in the step 3 so as to ensure that a closed loop of a satellite attitude control T-S fuzzy system is stable. The satellite fault diagnosis and fault-tolerant control method based on the T-S fuzzy model and learning observer can be applied to an aerospace field.

The invention discloses a non-affine non-linear flight control system robust adaptive fault-tolerant control system used for a non-linear system with parameters in a non-affine mode. An observer has relatively idea robustness on the situation that the parameters change in a large range. Fault information and disturbance information are implied in the observer, and then a fault-tolerant controller is dynamically designed on the basis of the observer. Due to the non-affine non-linear system, the controller is not easy to design, the non-affine non-linear system approximates to an affine non-linear system with time-varying parameters, and the parameters needing to be known are estimated online through a filter. By means of the non-linear flight control system, effectiveness of a method is verified, and robust adaptive fault-tolerant control of the non-affine non-linear flight control system can be achieved. Robust adaptive fault-tolerant control of the non-affine non-linear flight control system is achieved and applied in the flight control system, and a simulation result displays effectiveness of the method.

Provided is a fault tolerant control method for a spacecraft equipped with a flywheel based on robust adaptation. The method comprises five steps of: 1, establishing a spacecraft kinematical equation; 2, establishing a spacecraft kinetic equation; 3, performing desired angular velocity locus design; 4, performing controller output torque design; and 5, performing numerical simulation. Under the circumstance that a FDD device is not used, the method online estimates a triaxial torque fault factor and designs a robust adaptive fault tolerant controller. The research aims at enriching spacecraft PFTCS methods and providing technical support for spacecraft attitude control in the future.

The invention relates to a four-rotor unmanned aerial vehicle tolerant control method, and provides a tolerant controller. When an actuator is partially failed, a four-rotor unmanned aerial vehicle is still stable. According to the technical scheme provided by the invention, a tolerant control method for partial failure of the four-rotor unmanned aerial vehicle actuator comprises the steps that the principle of the action of the actuator on the four-rotor unmanned aerial vehicle is analyzed; an unknown diagonal matrix is used to represent the influence of the failed actuator on the dynamics characteristic; by taking into account the disturbance of external unknown disturbance torque, a nonlinear dynamics model of the partially failed four-rotor unmanned aerial vehicle actuator is acquired; and an analysis method based on Lyapunov is used to prove that the whole closed-loop system shown by a formula (12) is asymptotically stable, namely when time tends to be infinite, an attitude angle eta tends to a target attitude angle eta d. The method provided by the invention is mainly used for four-rotor unmanned aerial vehicle tolerant control.

The invention provides a heterogeneous vehicle team fault-tolerant control method based on actuator fault and saturation. The method comprises the following steps: carrying out stress analysis on longitudinal movement of vehicles, and by combining actuator fault and saturation models, building a vehicle longitudinal dynamics model under the actuator fault and saturation; according to information of the vehicles, constructing a variable time interval strategy with fault information and a saturation index; and based on the constructed variable time interval strategy, establishing a proportional integral differential sliding mode surface and a coupling sliding mode surface; and selecting a proper Lyapunov function, designing a fault-tolerant controller and an adaptive updating rate, and proving the limited time stability of a system. Compared with a traditional variable time interval strategy, the variable time interval strategy with the fault information and the saturation index not only can solve the problem of non-zero initial interval error but also can expand critical traffic capacity.