无人机舵面故障高阶滑模重构观测器设计及主动容错控制  

The High Order Sliding Mode Reconstruction Observer and Active Fault Tolerant Control Design for UAV Control Surface Fault

作　　者：刘勇求[1] 刘晓峰[2] LIU Yongqiu;LIU Xiaofeng(Guangdong University of Science and Technology,Dongguan 523330,China;Aviation University Air Force,Changchun 130000,China)

机构地区：[1]广东科技学院,广东东莞523330 [2]空军航空大学,长春130000

出　　处：《火力与指挥控制》2024年第4期170-176,共7页Fire Control & Command Control

摘　　要：针对无人机舵面损伤故障容错问题,提出了基于二阶非奇异终端滑模重构观测器及主动容错设计方法。在分析舵面正常偏转运动学和动力学特性基础上,构建了无人机典型舵面故障非线性特性模型。提出无人机舵面故障的高阶滑模重构滑模观测器设计方案;引入线性变换降维简化观测器设计程式;将终端滑模和非奇异终端滑模结合起来,实现滑模运动有限时间快速收敛;综合自适应律、线性矩阵不等式设计观测器系数矩阵,确保状态估计偏差有界稳定。提出集状态与故障重构于一体的主动容错控制方案,并通过仿真算例检验所提方案的有效性。An active fault tolerance design method based on the second order nonsingular terminal sliding mode reconstruction observer is proposed for solving the UAV(unmanned aerial vehicle)control surface damage fault tolerant problems.Firstly,the nonlinear characteristic model of typical control surface fault of UAV is constructed based on the analysis of the characteristics of kinematics and dynamics of normal deflection of control surface.Then,the design scheme for the high sliding mode reconstruction observer of UAV control surface fault is proposed,the linear transformation dimensionality reduction is introduced to simplify the observer design procedure,the terminal sliding mode and nonsingular terminal sliding mode are combined together to realize the fast convergence of sliding mode motion in limited time,the adaptive law and linear matrix inequality are synthetized to design the observer coefficient matrices,and to ensure the state estimate deviation bounded and stable.Finally,the active fault tolerance control scheme integrating set state with fault reconstruction is proposed,the effectiveness of the proposed scheme is tested by simulation examples.

关 键 词：舵面故障 二阶非奇异终端滑模 无人机 主动容错 观测器 

分 类 号：TJ02[兵器科学与技术—兵器发射理论与技术]