四旋翼飞行器的分散式容错控制  

Distributed Fault-Tolerant Control for Quadrotor

作　　者：杨成顺[1] 杨忠[1] 黄宵宁[2] 许德智[1] 

机构地区：[1]南京航空航天大学自动化学院,南京210016 [2]南京工程学院电力工程学院,南京211167

出　　处：《应用科学学报》2013年第3期321-330,共10页Journal of Applied Sciences

基　　金：高等学校博士学科点专项科研基金(No.20113218110013);江苏省普通高校研究生科研创新计划项目基金(No.CXLX11_0200);江苏省产学研联合创新资金(No.BY2012018)资助

摘　　要：针对存在复合干扰和执行器故障的四旋翼飞行器姿态系统提出一种故障调节策略.首先给出了四旋翼飞行器的姿态模型和存在复合干扰情况下的姿态模型,并给出执行器的失效故障表达形式.针对姿态控制系统的复合干扰和执行器失效故障,分别给出一种复合干扰估计和局部故障诊断和辨识(fault diagnosis and identification,FDI)算法.复合干扰估计器由干扰估计误差驱动,并非直接与传统的状态跟踪或预测误差有关.针对执行器失效故障的局部FDI结构类似于模型参考自适应,基于复合干扰估计和局部FDI设计出四旋翼飞行器姿态系统backstepping容错控制器.仿真实验验证了文中所提容错控制策略的正确性和有效性.In this paper, a fault accommodation scheme is proposed for a quadrotor attitude dynamics that has composite disturbance and actuator fault. The attitude model and the attitude model with composite disturbance of the quadrotor are described, and an actuator loss-of-effectiveness failure model presented. An algorithm for composite disturbance estimation and a local fault diagnosis and identification （FDI） algorithm are proposed for composite disturbance and for actuator loss-of-effectiveness failures of the quadrotor system respectively. The composite disturbance estimator is driven by the disturbance estimation error rather than directly related to the state tracking or prediction errors. The local actuator FDI structure is similar to the model reference adaptive control for actuator model. A backstepping fault tolerant control （FTC） based on composite disturbance estimate and local FDI is designed for the quadrotor. Simulation results show effectiveness of the proposed FTC scheme.

关 键 词：四旋翼飞行器 容错控制 故障诊断与辨识 执行器故障 

分 类 号：TP206.3[自动化与计算机技术—检测技术与自动化装置] V249.122.2[自动化与计算机技术—控制科学与工程]