基于故障程度的四旋翼无人机容错控制
|
摘要
针对四旋翼无人机执行机构部分失效故障,采用一组线性二次最优控制器,并且设计了可变因子二阶卡尔曼滤波器在线快速估计状态和检测故障。当故障被检测和诊断出来时,通过可变因子二阶卡尔曼滤波器调节,同时切换到相应的线性二次最优控制器使故障影响变小。最后,在Matlab实验平台上对所提方法的可行性和有效性进行仿真验证验证,结果表明四旋翼无人机执行机构在发生部分失效故障时,输出信号能够快速跟踪轨迹,实现了对执行机构部分失效故障的容错控制。
Aimed at any actuator failure of quadrotor UAV,a set of linear quadratic optimal controller is adopted and variable factor two step Kalman filter is also designed for quickly state estimation and failure detection.When the fault is detected and diagnosised,by adjusting the variable factor two step Kalman filter and switching to the responsible linear quadratic optimal controller at the same time, so that the influence of the fault could decrease. Finally, a Matlab example is given to show the feasibility and effectiveness of the proposed method,which shows that when any actuator failure of quadrotor UAV is happened,the output signal can track trajectory quickly and realize the fault tolerant control of any actuator failure.
Aimed at any actuator failure of quadrotor UAV,a set of linear quadratic optimal controller is adopted and variable factor two step Kalman filter is also designed for quickly state estimation and failure detection.When the fault is detected and diagnosised,by adjusting the variable factor two step Kalman filter and switching to the responsible linear quadratic optimal controller at the same time, so that the influence of the fault could decrease. Finally, a Matlab example is given to show the feasibility and effectiveness of the proposed method,which shows that when any actuator failure of quadrotor UAV is happened,the output signal can track trajectory quickly and realize the fault tolerant control of any actuator failure.
引文
[1] Zhao B,Xian B,Zhang Y,et al. Nonlinear robust adaptive tracking control of a quadrotor UAV via immersion and invariance methodology[J]. IEEE Transactions on Industrial Electronics,2015,62(5):2891-2902.
[2] Merheb A R,Bateman F,Noura H,et al.Hierarchical faulttolerant control of a quadrotor based on fault severity[C]//2016 3rd Conference on Control and Fault-Tolerant Systems.2016.
[3]张友民,余翔,王斑,等.四旋翼无人系统的容错控制算法设计与实现(英文)[J].控制工程,2016,23(12):1874-1882.
[4]蒋银行,刘剑慰,杨蒲,等.基于增益调度PID的四旋翼无人机主动容错控制[J].山东科技大学学报(自然科学版),2017,36(4):31-37.
[5] Nguyen D T,Saussie D,Saydy L. Quaternion-based robust fault-tolerant control of a quadrotor UAV[C]//2017 International Conference on Unmanned Aircraft Systems.2017.
[6] Büyükkabasakal K,Fidan B,Savran A.Mixing adaptive fault tolerant control of quadrotor UAV[J].Asian Journal of Control,2017,19(4).
[7] Amoozgar M H,Chamseddine A,Zhang Y.Experimental test of a two-stage Kalman filter for actuator fault detection and diagnosis of an unmanned quadrotor helicopter[J].Journal of Intelligent&Robotic Systems,2013,70(1/2/3/4):107-117.
[2] Merheb A R,Bateman F,Noura H,et al.Hierarchical faulttolerant control of a quadrotor based on fault severity[C]//2016 3rd Conference on Control and Fault-Tolerant Systems.2016.
[3]张友民,余翔,王斑,等.四旋翼无人系统的容错控制算法设计与实现(英文)[J].控制工程,2016,23(12):1874-1882.
[4]蒋银行,刘剑慰,杨蒲,等.基于增益调度PID的四旋翼无人机主动容错控制[J].山东科技大学学报(自然科学版),2017,36(4):31-37.
[5] Nguyen D T,Saussie D,Saydy L. Quaternion-based robust fault-tolerant control of a quadrotor UAV[C]//2017 International Conference on Unmanned Aircraft Systems.2017.
[6] Büyükkabasakal K,Fidan B,Savran A.Mixing adaptive fault tolerant control of quadrotor UAV[J].Asian Journal of Control,2017,19(4).
[7] Amoozgar M H,Chamseddine A,Zhang Y.Experimental test of a two-stage Kalman filter for actuator fault detection and diagnosis of an unmanned quadrotor helicopter[J].Journal of Intelligent&Robotic Systems,2013,70(1/2/3/4):107-117.