一种有马达故障六旋翼无人机的滑模控制
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摘要
将控制分配与参考模型滑模控制相结合提出一种容错控制方法。无人机在空中出现动力系统失效情况时(如电机卡死等),传统容错控制方法需要牺牲某一自由度达到一定控制效果,针对这一情况,提出优化的容错控制方法即不牺牲自由度的容错控制。以具有特殊旋翼结构的六旋翼无人机作为实验平台,根据其飞行原理及动力学模型来设计控制器,并结合控制分配理论,实现所有自由度均可控的容错控制。最后,通过实际飞行实验来验证所设计的控制器的有效性。
This paper proposes a fault-tolerant control method that combines control allocation and model reference sliding mode control to solve the problem that the traditional method needs to sacrifice certain degrees of freedom to achieve a certain control effect when the drone occurs in the air. First, a Hexacopter was used in combination with a special rotor structure. Then, the controller was designed based on the multi-rotor UAV flight theory and dynamics model, and combined with the control distribution theory, the fault-tolerant control was realized without sacrificing the degree of freedom. Finally, at the end of the paper, we used the attitude angle model to carry out practical tests to verify the effectiveness of the control method.
This paper proposes a fault-tolerant control method that combines control allocation and model reference sliding mode control to solve the problem that the traditional method needs to sacrifice certain degrees of freedom to achieve a certain control effect when the drone occurs in the air. First, a Hexacopter was used in combination with a special rotor structure. Then, the controller was designed based on the multi-rotor UAV flight theory and dynamics model, and combined with the control distribution theory, the fault-tolerant control was realized without sacrificing the degree of freedom. Finally, at the end of the paper, we used the attitude angle model to carry out practical tests to verify the effectiveness of the control method.
引文
[1] R D'Andrea,M Hamer,& M W Mueller.Fusing ultra-wideband range measurements with accelerometers and rate gyroscopes for quadrocopter state estimation[C].Piscataway,NJ,USA:IEEE 2015:1730-1736.
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[6] Mueller,W Mark and Raffaello D'Andrea.Stability and control of a quadrocopter despite the complete loss of one,two,or three propellers[C].Piscataway,NJ,USA:IEEE 2014:45-52.
[7] 王伟,马浩,孙长银.四旋翼飞行器姿态控制系统设计[J].科学技术与工程,2013,13(19):5513-5519.
[8] T Schneider,G Ducard,K Rudin,and P Strupler.Fault-tolerant Control Allocation for Multirotor Helicopters using Parametric Programming[C].Aachen,Germany IMAV:2012:1-9.
[9] Wang Wei,H Ma,C Sun.A Combined MRSMC/MBC Altitude Controller for a Quad-rotor UAV[J].Intelligence Science and Big Data Engineering.Springer Berlin Heidelberg,2013:731-739.
[10] M Blanke,M Kinnaert,J Lunze,and M Staroswiecki.Diagnosis and Fault-Tolerant Control[M].Germany :Springer-Verlag,2006.
[11] Y Yang,K Nonami,Y Song,and D Iwakura.The Research of the Fail Safe System for Muti-Rotor Helicopter[C].Dynamics and Desgin Conf.2013.
[2] D S Maughan,I T Erekson,and R Sharma.Flying Inverted Pendulum Trajectory Control on Robust Intelligent Sensing and Control Multi-Agent Analysis Platform[C].Piscataway,NJ,USA.2015:1279-1284.
[3] K Bipin,V Duggal,& K M Krishna.Autonomous navigation of generic monocular quadcopter in natural environment[C].IEEE International Conference on Robotics & Automation,2015.
[4] A Benallegue,& A Mokhtari.Dynamic feedback controller of Euler angles and wind parameters estimation for a quadrotor unmanned aerial vehicle[C].Piscataway,NJ,USA:IEEE.2004:2359-2366.
[5] H A Izadi,Y Zhang,and B W Gordon.Fault Tolerant Model Predictive Control of Quad-Rotor Helicopter with Actuator Fault Estimation[C].Italy:Elsevier,2011:6343-6348.
[6] Mueller,W Mark and Raffaello D'Andrea.Stability and control of a quadrocopter despite the complete loss of one,two,or three propellers[C].Piscataway,NJ,USA:IEEE 2014:45-52.
[7] 王伟,马浩,孙长银.四旋翼飞行器姿态控制系统设计[J].科学技术与工程,2013,13(19):5513-5519.
[8] T Schneider,G Ducard,K Rudin,and P Strupler.Fault-tolerant Control Allocation for Multirotor Helicopters using Parametric Programming[C].Aachen,Germany IMAV:2012:1-9.
[9] Wang Wei,H Ma,C Sun.A Combined MRSMC/MBC Altitude Controller for a Quad-rotor UAV[J].Intelligence Science and Big Data Engineering.Springer Berlin Heidelberg,2013:731-739.
[10] M Blanke,M Kinnaert,J Lunze,and M Staroswiecki.Diagnosis and Fault-Tolerant Control[M].Germany :Springer-Verlag,2006.
[11] Y Yang,K Nonami,Y Song,and D Iwakura.The Research of the Fail Safe System for Muti-Rotor Helicopter[C].Dynamics and Desgin Conf.2013.