基于滑模与控制分配的六旋翼飞行器容错控制  

Fault-Tolerant Control of Hexa-copters Based on Sliding Mode Method and Control Allocation

作　　者：陈阳[1] 梁焜[1] 王世勇[1] 李少斌[1] 杨成顺[1] 杨忠[1] 

机构地区：[1]南京航空航天大学自动化学院,南京210016

出　　处：《电光与控制》2014年第5期24-28,共5页Electronics Optics & Control

基　　金：博士点基金(20113218110013);江苏省产学研联合创新资金(BY2012018);南京航空航天大学研究生创新基地(实验室)开放基金(kfjj120205)

摘　　要：针对六旋翼飞行器的执行机构失效故障,提出一种基于滑模和控制分配方法的容错控制方案;采用了分层设计结构,将基本控制律设计与控制分配律分为两个独立的部分,针对系统建模不确定性与外界干扰,设计滑模控制律,提高了系统的鲁棒性,运用控制分配方法,在飞行器发生失效故障甚至卡死故障时,在线调解控制分配矩阵,减小故障机构对整体飞行性能的影响。仿真结果验证了所提容错控制的正确性和有效性。A fault-tolerant control method was proposed based on sliding mode control and control allocation theory to deal with the failures of hexa-copter＇s actuators .Firstly,a hierarchical structure was used to divide the basic control law and distribution law into two independent parts .Secondly,a sliding mode control law was designed to improve the robustness of the system with respect to system modeling uncertainties and external disturbances .Then the allocation matrix was adjusted on-line with the help of control allocation theory to reduce bad effects on the whole flight performance caused by failure mechanism when actuators are less effective or even stuck .Finally,simulation results proved the correctness and effectiveness of fault-tolerant control method proposed .

关 键 词：六旋翼飞行器 滑模变结构控制 容错控制 控制分配 

分 类 号：V271.4[航空宇航科学与技术—飞行器设计]