Attitude robust adaptive fault-tolerant control method for UAV steering gear failure

Abstract

The present invention provides an attitude robust self-adaptive fault-tolerant control method for UAV steering gear failure, including: according to the current motor lift vector F, the current attitude angular velocity Ω and the fault estimated value and according to the pre-designed sliding mode self-adaptive observation The controller observes the fault, determines and updates the estimated value of the attitude angular velocity, calculates and updates the estimated error e of the attitude angular velocity according to the estimated value of the attitude angular velocity and the current attitude angular velocity Ω Ω ;According to the current attitude quaternion q and the target attitude quaternion q d , determine the attitude error quaternion e q ; According to the pre-designed fault-tolerant controller, calculate the motor lift vector F to adjust the UAV attitude according to the motor lift vector control; according to the current motor lift vector F, attitude angular velocity estimation error e Ω and attitude error quaternion e q , update the fault estimate according to the fault estimate and the adaptive law and estimate, and through the technical solution of the present invention, the influence of the fault of the drone can be effectively overcome, the posture is kept stable, the calculation amount is greatly reduced, and the control efficiency is improved.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicle control, in particular to an attitude robust adaptive fault-tolerant control method for the failure of the unmanned aerial vehicle steering gear. Background technique [0002] In recent years, multi-rotor drones have been more and more widely used in military and civilian fields such as high-altitude photography, post-disaster rescue, and environmental monitoring. Unlike traditional quad-rotor UAVs and hexacopter UAVs, tri-rotor UAVs usually consist of three motors and one steering gear, with simpler structure, lower cost, less energy consumption, and greater mobility. The three-rotor drone relies on the rotation of the three motors and the deflection of the steering gear to achieve actions such as pitch, roll, and yaw. Due to the influence of the flight stability of the drone and its own technology, the steering gear is prone to blockage failures. The flight performance of the ma...

AI Technical Summary

Problems solved by technology

The three-rotor UAV relies on the rotation of three motors and the deflection of the steering gear to achieve actions such as pitch, roll, and yaw. Due to the influence of the flight stability of the drone and its own technology, the steering gear is prone to blockage failures. Seriously affect the flight performance of man-machine

[0003] At present, many research institutions at home and abroad have begun to devote themselves to the research of dynamic modeling and flight control of three-rotor UAVs, but there is no relevant literature on the research of flight control when the steering gear is blocked.

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