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针对六旋翼无人机动力系统执行器故障问题,设计了一种基于模型参考滑模与动态控制分配相结合的容错控制器。利用线性二次调节方法设计参考模型,依据状态误差给出干扰存在下模型参考滑模的基本控制律。在此基础上,采用观测器将执行器发生卡死或失效的故障重构,利用故障信息结合控制分配策略,在线调整控制分配矩阵,减少故障执行器的使用率,实现容错控制目的。仿真结果表明,该控制策略能有效降低故障执行器对飞行姿态和轨迹的影响。
In order to solve the problem of actuator failure of six-rotor UAV power system, a fault-tolerant controller based on model reference sliding mode and dynamic control distribution is designed. The linear quadratic adjustment method is used to design the reference model and the basic control law of the model reference sliding mode in the presence of interference is given based on the state error. On this basis, the observer is used to reconstruct the fault of the actuator stuck or failed. The fault information and control allocation strategy are used to adjust the control distribution matrix online to reduce the fault actuator’s utilization rate and achieve the purpose of fault-tolerant control. The simulation results show that this control strategy can effectively reduce the influence of the fault actuator on flight attitude and trajectory.