传感器故障下的三自由度直升机滑模控制方法  

Sliding Mode Control for 3DOF Helicopter with Sensor Failure

作　　者：叶鹏 刘斌[1,2] 胡勇 YE Peng;LIU Bin;HU Yong(Engineering Research Center for Metallurgical Automation and Detecting Technology of Ministry of Education,University of Wuhan Science and Technology,Wuhan 430000,China;Hubei Province Key Laboratory of Systems Science in Metallurgical Process,Wuhan 430000,China;Beijing Institute of Control Engineering,Beijing 100000,China)

机构地区：[1]武汉科技大学冶金自动化与检测技术教育部工程研究中心,武汉430000 [2]冶金工业过程系统科学湖北省重点实验室,武汉430000 [3]北京控制工程研究所,北京100000

出　　处：《电光与控制》2021年第12期61-66,共6页Electronics Optics & Control

基　　金：国家自然科学基金(61333008)。

摘　　要：综合考虑三自由度直升机系统中各自由度之间的关系,将直升机系统分解为驱动子系统和无驱动子系统,建立了相应的三自由度直升机数学模型,模型对可能存在的外部扰动和无驱动子系统传感器故障进行了描述。设计了非线性扩张干扰观测器消除外部扰动和传感器故障带来的不利影响,设计相应的高阶滑模控制器实现对驱动子系统的跟踪控制,并基于Lyapunov理论证明了系统的稳定性。最后通过实验验证了控制方案对存在传感器故障的三自由度直升机具有良好的控制效果。In view of the relationship between each Degree of Freedom(DOF)of the 3DOF helicopter systemthe helicopter system is divided into an actuated subsystem and a non-actuated subsystem.The mathematical model of the 3DOF helicopter is establishedwhich depicts the possible external disturbances and sensor failures of the non-actuated subsystem.A nonlinear extended disturbance observer is designed to eliminate the adverse effects caused by external disturbances and sensor failuresand a high-order sliding mode controller is designed to realize tracking control of the actuated subsystem.The stability of the system is proved by Lyapunov theory.Finallythe experimental results illustrate that the control scheme has good effects on the 3DOF helicopter with sensor failures.

关 键 词：三自由度直升机 滑模控制 传感器故障 欠驱动系统 

分 类 号：TP271[自动化与计算机技术—检测技术与自动化装置]