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Quad-rotor unmanned aerial vehicle (UAV) fault tolerance control method based on adaptive fault estimation observer

A four-rotor unmanned aerial vehicle, fault estimation technology, applied in the field of aviation aircraft control, can solve the problems that the position fault cannot be solved well, the controller design is complicated, etc., to improve safety and reliability, good fault tolerance, good Tracking the effect of the effect

Inactive Publication Date: 2018-08-24
CENT SOUTH UNIV
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Problems solved by technology

Although passive fault-tolerant control does not require a fault diagnosis part, it can only address some predictive faults, and cannot solve positional faults well, and the controller design is complex

Method used

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  • Quad-rotor unmanned aerial vehicle (UAV) fault tolerance control method based on adaptive fault estimation observer
  • Quad-rotor unmanned aerial vehicle (UAV) fault tolerance control method based on adaptive fault estimation observer
  • Quad-rotor unmanned aerial vehicle (UAV) fault tolerance control method based on adaptive fault estimation observer

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Embodiment Construction

[0031] The principle diagram of the fault-tolerant control of the four-rotor UAV based on the adaptive fault estimation observer of the present invention is as follows figure 1 As shown, it mainly includes the following steps:

[0032] Step 1: According to the known dynamic model of the quadrotor UAV, fully considering the actuator failure of the UAV system, the attitude failure model of the quadrotor UAV is established.

[0033] According to the fault model obtained in step 1, considering that the actual UAV actuators are four rotor motors, in order to match the faults with the actuators, a new attitude fault model is derived.

[0034] According to the fault model obtained in step 2, the actuator faults are divided into two groups that are decoupled from each other, and the attitude fault model used finally is obtained.

[0035] According to the fault model obtained in step 3, an adaptive fault estimation observer is designed for the two groups of faults that are decoupled f...

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Abstract

The invention discloses a quad-rotor UAV fault tolerance control method based on an adaptive fault estimation observer, and belongs to the field of aviation aircraft control. The method comprises thata fault model of a quad-rotor attitude system is established according to a dynamic model of a quad-rotor UAV by considering a performer fault of a UAV system; a performer of the UAV includes four rotor motors in practicality, faults correspond to the four rotor motors, the fault model is processed, the faults are divided into two groups decoupled mutually, and a final attitude fault model is obtained; according to the provided fault model, the adaptive fault estimation observer is designed, corresponding adaptive laws are provided, the performance fault is estimated, and an H(infinite) method and an interval matrix method are used on external disturbance and parameter nondeterminacy respectively in the design process; and an attitude system error fault model is obtained on the basis of the fault model, a dynamic output feedback fault tolerance controller is designed on the basis of a fault estimated value, and fault tolerance control of the quad-rotor UAV is realized. Influence of the performer fault on performance of the quad-rotor UAV can overcome, and the safety and reliability of the UAV in the flight process are ensured fully.

Description

technical field [0001] The invention relates to a fault-tolerant control method for a quadrotor unmanned aerial vehicle based on an adaptive fault estimation observer, belonging to the field of aviation vehicle control. Background technique [0002] With the wide application of quadrotor UAVs in civil and military fields, quadrotor UAVs have become a hot topic in research all over the world. Compared with fixed-wing aircraft, quadrotor drones have the advantages of small size, light weight, good concealment, and strong maneuverability. Due to these advantages, quadrotor drones are suitable for many tasks and occasions, such as forest fire fighting, electric cruise, film and television shooting, etc. In these application scenarios, once the UAV fails and the system becomes unstable, it will not only make the set tasks impossible to complete, but even threaten people's own safety. Therefore, the safety and reliability requirements for quadrotor drones are becoming higher and...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 年晓红陈伟强
Owner CENT SOUTH UNIV
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