控制器故障下固定翼无人机的姿态控制
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摘要
固定翼无人机是一个具有复杂特性的强耦合、多输入多输出非线性系统。首先给出无人机的动力学模型,然后基于动态逆方法设计出具有一定稳定性的自适应控制器;考虑无人机飞行控制过程中的控制器故障问题,设计出能结合自适应控制器的可重构控制系统,该系统包括故障检测系统、控制器重构系统,能在检测出无人机控制器故障的同时,重新构造控制器,以实现无人机的稳定飞行;仿真结果表明:在控制器卡死情形下,对比单纯使用自适应控制器的控制效果可以发现,使用该方法的无人机对这类问题具备良好的应对能力,能使无人机姿态运动更接近于无故障情况。
Fixed-wing UAV is a complicated nonlinear system with strong coupling,multi-input multi-output(MIMO).Firstly,the dynamics model of fixed-wing UAV was given in the paper and an adaptive controller of the mode was designed based on dynamic inversion method;Considering the problem of controller fault in the process of UAV controlling,a reconfigurable control system including fault detection and controller reconfiguration was designed to solve the problem,which can quickly detect the fault and reconstruct the controller sign at the same time,realizing the stable flight of UAV.The simulation results show that,in the situation of actuator jam,the method proposed in the paper have greater ability to cope with actuator jam problem than purely using adaptive controller,which can track the desired attitudes stably.
Fixed-wing UAV is a complicated nonlinear system with strong coupling,multi-input multi-output(MIMO).Firstly,the dynamics model of fixed-wing UAV was given in the paper and an adaptive controller of the mode was designed based on dynamic inversion method;Considering the problem of controller fault in the process of UAV controlling,a reconfigurable control system including fault detection and controller reconfiguration was designed to solve the problem,which can quickly detect the fault and reconstruct the controller sign at the same time,realizing the stable flight of UAV.The simulation results show that,in the situation of actuator jam,the method proposed in the paper have greater ability to cope with actuator jam problem than purely using adaptive controller,which can track the desired attitudes stably.
引文
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[3]王思明,李伟杰,韩乐乐,梁旭东.含控制分配的六旋翼无人机模型参考容错控制[J].飞行力学,2018,36(2):26-30.
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[7]ZHONG Y,ZHANG Y,ZHANG W,et al.Robust Actuator Fault Detection and Diagnosis for a Quadrotor UAV With External Disturbances[J].IEEE Access.2018,6:48169-48180.
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[9]MORADI R,ALIKHANI A,JEGARKANDI M F.Comparing the Performance of Reference Trajectory Management and Controller Reconfiguration in Attitude Fault Tolerant Control[D].EDP Sciences,2018.
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[15]SERRANI A,BOLENDER M A.Nonlinear Adaptive Reconfigurable Controller for A Generic 6-DOF Hypersonic Vehicle Model[D].IEEE,2014.
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