电光与控制, 2014, 21 (5): 24, 网络出版: 2014-05-22   

基于滑模与控制分配的六旋翼飞行器容错控制

Fault-Tolerant Control of Hexa-copters Based on Sliding Mode Method and Control Allocation
作者单位
南京航空航天大学自动化学院, 南京210016
摘要
针对六旋翼飞行器的执行机构失效故障, 提出一种基于滑模和控制分配方法的容错控制方案; 采用了分层设计结构, 将基本控制律设计与控制分配律分为两个独立的部分, 针对系统建模不确定性与外界干扰, 设计滑模控制律, 提高了系统的鲁棒性, 运用控制分配方法, 在飞行器发生失效故障甚至卡死故障时, 在线调解控制分配矩阵, 减小故障机构对整体飞行性能的影响。仿真结果验证了所提容错控制的正确性和有效性。
Abstract
A fault-tolerant control method was proposed based on sliding mode control and control allocation theory to deal with the failures of hexa-copters actuators.Firstlya hierarchical structure was used to divide the basic control law and distribution law into two independent parts.Secondlya sliding mode control law was designed to improve the robustness of the system with respect to system modeling uncertainties and external disturbances.Then the allocation matrix was adjusted on-line with the help of control allocation theory to reduce bad effects on the whole flight performance caused by failure mechanism when actuators are less effective or even stuck.Finallysimulation results proved the correctness and effectiveness of fault-tolerant control method proposed.
参考文献

[1] 王振华,黄宵宁,梁焜,等.基于四旋翼无人机的输电线路巡检系统研究[J].中国电力,2012,45(10):59-62.

    WANG Z HHUANG X NLIANG Ket al.Study on the transmission line inspection system based on quadrotor UAVs[J].Electric Power201245(10):59-62.

[2] BARNEK RSOLC F.Modelling and control of a hexa-copter[C]//The 13th International Carpathian Control Conference (ICCC)2012:19-23.

[3] 程月华,姜斌,孙俊,等.基于滑模观测器的卫星姿态控制系统滑模容错控制[J].上海交通大学学报,2011,45(2):190-194.

    CHENG Y HJIANG BSUN Jet al.Sliding mode fault tolerant control for satellite attitude systems based on slid-ing mode observer[J].Journal of Shanghai Jiaotong University201145(2):190-194.

[4] 刘春生,朱心中.基于控制分配的多操纵面战机故障容错控制[J].飞行力学,2011,29(6):18-21.

    LIU C SZHU X Z.Fault tolerant control based on control allocation for fighter with multiple effectors[J].Flight Dynamics201129(6):18-21.

[5] 杨成顺,杨忠,许德智,等.新型六旋翼飞行器的轨迹跟踪控制[J].系统工程与电子技术,2012,34(10):2098-2105.

    YANG C SYANG ZXU D Zet al.Trajectory tracking control for novel six-rotor aircraft[J].Systems Engineering and Electronics201234(10):2098-2105.

[6] 陈志梅,王贞艳,张井岗.滑模变结构控制理论及应用[M].北京:电子工业出版社,2012.

    CHEN Z MWANG Z YZHANG J G.Sliding mode variable structure control theory and application[M].Beijing:Publishing House of Electronics Industry2012.

[7] 郭玉英.基于多模型的飞机舵面故障诊断与主动容错控制[D].南京:南京航空航天大学,2009.

    GUO Y Y.Multiple model based actuator fault diagnosis and active fault tolerant control for flight control systems[D].Nanjing:Nanjing University of Aeronautics and Astronautics2009.

[8] 马建军.过驱动系统控制分配理论及其应用[D].长沙:国防科学技术大学,2009.

    MA J J.Research and application of control allocation theory for overactuated systems[D].Changsha:National University of Defense Technology2009.

[9] 肖冰,胡庆雷,马广富.基于观测器的航天器执行机构失效故障重构[J].宇航学报,2011,32(2):323-328.

    XIAO BHU Q LMA G F.Ovserver based fault reconstruction for spacecraft under loss of actuator effectiveness[J].Journal of Astronautics201132(2):323-328.

[10] LI QGUO S F.Analysis and simulation of control mixer concept for a control reconfigurable aircraft[J].Transactions of Nanjing University of Aeronautics and Astronautics199512(2):180-184.

[11] 赵阳,张大伟,田浩.冗余飞轮姿控系统控制分配与重构研究[J].空间控制技术与应用,2010,36(1):1-6,30.

    ZHAO YZHANG D WTIAN H.Control allocation and reconfiguration of redundant wheels for spacecraft attitude control system[J].Aerospace Control and Application201036(1):1-630.

陈阳, 梁焜, 王世勇, 李少斌, 杨成顺, 杨忠. 基于滑模与控制分配的六旋翼飞行器容错控制[J]. 电光与控制, 2014, 21(5): 24. CHEN Yang, LIANG Kun, WANG Shi-yong, LI Shao-bin, YANG Cheng-shun, YANG Zhong. Fault-Tolerant Control of Hexa-copters Based on Sliding Mode Method and Control Allocation[J]. Electronics Optics & Control, 2014, 21(5): 24.

本文已被 1 篇论文引用
被引统计数据来源于中国光学期刊网
引用该论文: TXT   |   EndNote

相关论文

加载中...

关于本站 Cookie 的使用提示

中国光学期刊网使用基于 cookie 的技术来更好地为您提供各项服务,点击此处了解我们的隐私策略。 如您需继续使用本网站,请您授权我们使用本地 cookie 来保存部分信息。
全站搜索
您最值得信赖的光电行业旗舰网络服务平台!