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提出了一种具有可重构能力的旋翼无人飞行器(RUAV),其执行机构主要由内置在涵道中的主旋翼、环绕主旋翼的4个辅旋翼以及涵道末端的2个副翼组成,其中辅旋翼与主旋翼、副翼的部分功能重合以使系统具备重构控制能力.运用牛顿–欧拉方法建立了旋翼无人飞行器的6自由度(6DOF)动力学模型.基于此模型,首先分析了在悬停状态附近系统发生不同故障时的可控性,然后基于控制可重构度的概念分析了在发生不同程度故障时系统的容错能力,在此基础上构建了飞行器的多模型重构控制器,最后通过仿真实验分别对系统的动态响应特性和重构控制效果进行了分析.结果显示,旋翼无人飞行器具有较好的动态响应特性,且对一定范围内的故障具有较好的鲁棒性.本文提出的模型及相关分析为旋翼无人飞行器的容错设计和控制提供了一定的理论依据.
A reconfigurable rotorcraft unmanned aerial vehicle (RUAV) is proposed. Its actuator is mainly composed of a main rotor built in the culvert, four auxiliary rotors surrounding the main rotor and two ailerons at the ends of the ducts. The auxiliary rotor and the main rotor and ailerons partially overlap with each other to make the system possess the ability of reconfiguration control. The 6 DOF (6 DOF) dynamic model of the rotorless UAV is established by Newton-Euler method. Based on this model, The controllability of different faults in the vicinity of the hovering state is analyzed. Based on the concept of controllable reconfigurability, the fault tolerance of the system is analyzed when different degrees of fault occur. Based on this, the multi-model weight The controller and the controller are respectively analyzed by the simulation experiment.The results show that the UAV has better dynamic response and better performance for a certain range of faults Robustness.The model and correlation analysis proposed in this paper provide a theoretical basis for fault-tolerant design and control of UAV.