四旋翼直升机姿态系统的直接自修复控制  

Direct self-repairing control for four-rotor helicopter attitude systems

作　　者：杨荟憭 姜斌[1] 张柯[1] 

机构地区：[1]南京航空航天大学自动化学院,江苏南京210016

出　　处：《控制理论与应用》2014年第8期1053-1060,共8页Control Theory & Applications

基　　金：国家自然科学基金资助项目(61273171;61304112);江苏省自然科学基金资助项目(BK20131364);中央高校基本科研业务费专项资金资助项目(NE2014202);南航研究生创新实验室开放基金资助项目(kfjj130109)

摘　　要：当四旋翼直升机执行器突发故障或突受干扰时,利用直接自修复控制技术,设计一种基于直接自适应滑模控制的四旋翼直升机姿控系统,使其在故障或干扰信息未知的情况下,仍能保持稳定并且跟踪上理想输出信号.系统的稳定性和跟踪性能是由Lyapunov稳定性定理来确保的,这体现在参数更新律的设计过程中.最后在3DOFhover实验平台上验证了该方法的有效性,同时将该方法与LQR方法作比较,进一步证明了所提算法的优越性.We design an adaptive sliding mode tracking controller based on the direct self-repairing control for the four-rotor helicopter attitude system when unknown abrupt actuator fault or disturbance occurs.When any actuator of this four-rotor helicopter is abruptly damaged,this helicopter under faulty conditions can still track the desired output signal accurately without any exact information on that fault.The synthesis of the adaptation laws is based on Lyapunov stable principle so that the stability of the whole system and the convergence of the tracking error can be guaranteed.Finally,the effectiveness of the proposed method is validated by simulation on 3DOF hover.This method is also proved to be better than the LQR method through simulation.

关 键 词：四旋翼直升机 直接自修复控制 自适应滑模控制 突发故障 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]