Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Four-rotor self-adaptive fault-tolerant control method based on super-torsion sliding mode

A fault-tolerant controller and self-adaptive technology, applied in attitude control, non-electric variable control, control/adjustment system, etc., can solve the problems of difficult controller construction and low system stability of aircraft fault-tolerant control system, so as to avoid singularity Sexual problems, improve the convergence speed, improve the effect of stability

Active Publication Date: 2021-11-09
NANJING UNIV OF POSTS & TELECOMM
View PDF4 Cites 2 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Therefore, the existing technology mainly focuses on state feedback fault-tolerant control based on state observers. However, due to the coupling relationship between state estimation and fault estimation, it is difficult to construct the controller, resulting in low system stability of the constructed aircraft fault-tolerant control system.

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Four-rotor self-adaptive fault-tolerant control method based on super-torsion sliding mode
  • Four-rotor self-adaptive fault-tolerant control method based on super-torsion sliding mode
  • Four-rotor self-adaptive fault-tolerant control method based on super-torsion sliding mode

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0094] In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.

[0095] In one embodiment, such as figure 1 As shown, an adaptive fault-tolerant control method for quadrotors based on supertwisted sliding mode is provided, including the following steps:

[0096] Step S220, using the pre-built adaptive fault estimation model to estimate the fault of the aircraft in real time to obtain fault estimation information.

[0097] Wherein, the fault estimation information includes the estimated value of the disturbance and the estimated value of the fault. Ways of pre-built adaptive fault estimation models, including:

[0098] Constructing an...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention relates to a four-rotor self-adaptive fault-tolerant control method based on a super-torsion sliding mode, and the method comprises the steps: carrying out the real-time estimation of a fault of an aircraft through a pre-constructed self-adaptive fault estimation model, and obtaining the fault estimation information; constructing a four-rotor fault-tolerant controller according to the fault estimation information, and adjusting the attitude and position of the aircraft to enable the aircraft to return to the expected attitude and position; and applying the super-torque algorithm to the sliding mode controller, so that buffeting can be effectively restrained, and the stability of the aircraft fault-tolerant control system is improved.

Description

technical field [0001] The present application relates to the technical field of aircraft automatic control, in particular to an adaptive fault-tolerant control method for quadrotors based on supertwisted sliding mode. Background technique [0002] Quadrotor aircraft is widely used in military and civilian fields because of its simple structure, convenient operation, low cost, vertical take-off and landing, and air hovering. For example, military reconnaissance, precision strikes, air pollution detection, urban traffic monitoring, power inspection, agricultural plant protection, early fire detection, aerial search and rescue, etc. However, the quadrotor is a typical nonlinear, underactuated, and strongly coupled system, which brings difficulties to the construction of the quadrotor controller. The complexity of the flight environment and the structural characteristics of the quadrotor make it vulnerable to uncertain external disturbances such as wind force and gyro effect. ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/106Y02T90/00
Inventor 赵静谢佐宇丁筱茜蒋国平徐丰羽丁洁高志峰
Owner NANJING UNIV OF POSTS & TELECOMM
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com