一种基于内外环结构的四旋翼飞行器容错控制方法
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摘要
采用内外环结构来避免直接设计四旋飞机的欠驱动控制律,内外环结构以位置子系统作为外环,姿态子系统作为内环。首先,通过反步法逐步递推得到子系统的控制输入,通过该控制输入,一方面,可推导出内环横滚角与俯仰角的期望值,另一方面,可计算得出欠驱动控制律。以推导出的横滚角和俯仰角期望值以及给定的偏航角期望值作为姿态的目标轨迹,通过反步法进一步设计得出相应的姿态控制律。考虑到执行器可能会发生故障,采用自适应方法分别对内环和外环的故障进行估计,从而实现四旋翼飞行器的容错控制设计。相比于直接设计方法,本文方法得到的欠驱动控制律结构简单,且能实现对执行器故障的容错。研究结果表明:四旋翼飞行器在执行器故障下仍能实现位置和姿态的稳定跟踪,验证了所得控制律的有效性。
Inner and outer loops structure was adopted to avoid direct design of the under-actuated control laws of quadrotor, the position subsystem was the outer loop and attitude subsystem was the inner loop. First, the control inputs of position subsystem were recursively obtained by backstepping method, according to which the desired roll and pitch angles were derived and the under-actuated control law was calculated. The corresponding attitude control laws were further designed by backstepping using the target trajectory of attitude, which included the derived desired roll and pitch angles and the given desired yaw angle. Considering actuator faults, adaptive method was used to estimate faults of the inner and outer loops to realize the fault tolerant control for quadrotor. Compared with the direct design, the structure of under-actuated control law was simple and could achieve actuator fault tolerance.The results show that the quadrotor can still realize the steady tracking of position and attitude with actuator faults,which proves the effectiveness of obtained control laws.
Inner and outer loops structure was adopted to avoid direct design of the under-actuated control laws of quadrotor, the position subsystem was the outer loop and attitude subsystem was the inner loop. First, the control inputs of position subsystem were recursively obtained by backstepping method, according to which the desired roll and pitch angles were derived and the under-actuated control law was calculated. The corresponding attitude control laws were further designed by backstepping using the target trajectory of attitude, which included the derived desired roll and pitch angles and the given desired yaw angle. Considering actuator faults, adaptive method was used to estimate faults of the inner and outer loops to realize the fault tolerant control for quadrotor. Compared with the direct design, the structure of under-actuated control law was simple and could achieve actuator fault tolerance.The results show that the quadrotor can still realize the steady tracking of position and attitude with actuator faults,which proves the effectiveness of obtained control laws.
引文
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[20]张益鹏.四旋翼无人机自适应控制与故障容错[D].南京:南京邮电大学自动化学院、人工智能学院,2014:37-45.ZHANG Yipeng.Quadrotor unmanned aerial vehicle adaptive control and fault tolerance[D].Nanjing:Nanjing University of Posts and Telecommunications.College of Automation and Artificial Intelligence,2014:37-45.
[2]郝伟,鲜斌.四旋翼无人机姿态系统的非线性容错控制设计[J].控制理论与应用,2015,32(11):1457-1463.HAO Wei,XIAN bin.Nonlinear fault-tolerant control design of four rotor UAV attitude system[J].Control Theory and Application,2015,32(11):1457-1463.
[3]范佳明.四旋翼飞行器容错控制研究[D].天津:天津工业大学电气工程与自动化学院,2017:19-32.FAN Jiaming.Fault tolerant control study of quadrotor[D].Tianjin:Tianjin Polytechnic University.College of Electrical Engineering and Automation,2017:19-32.
[4]NGUYEN D T,SAUSSIéD,SAYDY L.Robust self-scheduled fault-tolerant control of a quadrotor UAV[J].IFAC-Papers OnLine,2017,50(1):5761-5767.
[5]鲜斌,郝伟.针对四旋翼无人机执行器部分失效的容错控制方法:中国,CN10374421.5[P].2015-10-07.XIAN Bin,HAO Wei.Fault tolerant control method for actuator partial failure of quadrotor UAV:China,CN10374421.5[P].2015-10-07.
[6]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[J].控制工程,2016,23(12):1874-1882.ZHANG Youmin,YU Xiang,WANG Ban,et al.Design and implementation of fault-tolerant control algorithms for an unmanned quadrotor system[J].Control Engineering,2016,23(12):1874-1882.
[7]LI Tong,ZHANG Youmin,GORDON B W.Nonlinear fault-tolerant control of a quadrotor UAV based on sliding mode control technique[J].IFAC Proceedings Volumes,2012,45(20):1317-1322.
[8]李炜,崔佳佳.基于多模型的无人机故障诊断与容错控制方法[J].山东科技大学学报(自然科学版),2017,36(4):9-15.LI Wei,CUI Jiajia.Fault diagnosis and fault tolerant control method of UAV based on multi model[J].Journal of Shandong University of Science and Technology(Natural Science),2017,36(4):9-15.
[9]徐雪松.四旋翼无人机的多模型故障诊断[J].计算机工程与应用,2016,52(21):252-257.XU Xuesong.Multi model fault diagnosis of quadrotor[J].Computer Engineering and Application,2016,52(21):252-257.
[10]BOSKOVIC J,LI S M,MEHRA R.Evaluation of the properties of a multiple-model reconfigurable flight controller on a 6 DOFsimulation[C]//AIAA Guidance,Navigation,and Control Conference and Exhibit.Denver,America:American Institute of Aeronautics and Astronautics,2013:2514-2525.
[11]殷芝霞.四旋翼直升机多故障系统故障诊断与容错技术研究[D].南京:南京航空航天大学自动化学院,2013:12-31.YIN Zhixia.Fault diagnosis and fault tolerance research on quadrotor helicopter multi fault system[D].Nanjing:Nanjing University of Aeronautics&Astronautics.College of Automation,2013:12-31.
[12]杨蒲,潘旭,刘剑慰,等.一种基于滑模观测器的四旋翼飞行器的主动容错控制方法:中国,CN10776314.5[P].2016-02-24.YANG Pu,PAN Xu,LIU Jianwei,et al.An active fault tolerant control method for quadrotor aircraft based on sliding mode observer:China,CN10776314.5[P].2016-02-24.
[13]宫勋,王丽.四旋翼飞行器的容错姿态稳定控制[J].电光与控制,2014,21(7):14-18.GONG Xun,WANG Li.Fault-tolerant attitude stabilization control of four rotor aircraft[J].Electro-Optic and Control,2014,21(7):14-18.
[14]聂博文.微小型四旋翼无人直升机建模及控制方法研究[D].长沙:国防科学技术大学信息系统与管理学院,2006:17-32.NIE Bowen.Research on modeling and control method of micro quadrotor unmanned helicopter[D].Changsha:National Defense University of Science and Technology.College of Information Systems and Management,2006:17-32.
[15]王大伟,高席丰.四旋翼无人机滑模轨迹跟踪控制器设计[J].电光与控制,2016,23(7):55-58.WANG Dawei,GAO Xifeng.Sliding mode trajectory tracking controller design for quadrotor[J].Electro-Optic and Control,2016,23(7):55-58.
[16]XIONG Jingjing,ZHANG Guobao.Global fast dynamic terminal sliding mode control for a quadrotor UAV[J].ISATransactions,2017,66:233-240.
[17]滕雄,吴怀宇,陈洋,等.基于反步法的四旋翼飞行器轨迹跟踪研究[J].计算机仿真,2016,33(5):78-83.TENG Xiong,WU Huaiyu,CHEN Yang,et al.Research on trajectory tacking of quadrotor based on backstepping[J].Computer Simulation,2016,33(5):78-83.
[18]杨立本,章卫国,黄得刚.基于ESO的欠驱动四旋翼飞行器轨迹鲁棒控制[J].系统工程与电子技术,2015,37(9):2102-2108.YANG Liben,ZHANG Weiguo,HUANG Degang.Trajectory robust control of underactuated quadrotor aircraft based on ESO[J].System Engineering and Electronic Technology,2015,37(9):2102-2108.
[19]ZHENG Enhui,XIONG Jingjing,LUO Jiliang.Second order sliding mode control for a quadrotor UAV[J].ISA Transactions,2014,53(4):1350-1356.
[20]张益鹏.四旋翼无人机自适应控制与故障容错[D].南京:南京邮电大学自动化学院、人工智能学院,2014:37-45.ZHANG Yipeng.Quadrotor unmanned aerial vehicle adaptive control and fault tolerance[D].Nanjing:Nanjing University of Posts and Telecommunications.College of Automation and Artificial Intelligence,2014:37-45.