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针对悬停状态下四旋翼无人机的执行机构故障,提出基于插值增益调度PID的主动容错控制方法,并在四旋翼无人工具实验平台上验证。首先根据不同故障率建立了故障模型集,并通过多模型故障诊断算法估计出故障的大小和时间。然后根据所估计出的故障大小,将控制律切换到相应故障情况下的控制律,实现对不同执行机构故障率的容错。最后在无人飞行工具实验平台上验证,飞行试验结果表明,与单纯的PID控制器相比,以插值增益调度PID为实现形式的主动容错控制方法可以使飞行器的容错性能有效提升。
Aiming at the failure of actuator of four-rotor UAV under hovering status, an active fault-tolerant control method based on interpolation gain scheduling PID is proposed and validated on a quadrotor unmanned tool experimental platform. Firstly, a fault model set is established according to different failure rates, and the size and time of the fault are estimated through a multi-model fault diagnosis algorithm. Then according to the estimated fault size, the control law is switched to the control law under the corresponding fault condition to achieve fault tolerance of different implementing agencies. Finally, the experimental results show that the flight test results show that compared with the pure PID controller, the active fault tolerant control method based on the interpolation gain scheduling PID can effectively improve the fault tolerance performance of the aircraft.