快速终端滑模的共轴多旋翼无人机容错控制  

FAULT-TOLERANT CONTROL OF COAXIAL MULTI-ROTOR UAV BASED ON FAST TERMINAL SLIDING-MODE

作　　者：张启亚 刘婷婷 宋家友[2] Zhang Qiya;Liu Tingting;Song Jiayou(School of Electronic Information Engineering,Sias University,Zhengzhou 451150,Henan,China;School of Information Engineering,Zhengzhou University,Zhengzhou 450001,Henan,China)

机构地区：[1]郑州西亚斯学院电子信息工程学院,河南郑州451150 [2]郑州大学信息工程学院,河南郑州450001

出　　处：《计算机应用与软件》2025年第4期51-56,共6页Computer Applications and Software

基　　金：河南省科技攻关项目(212102210150);西亚斯学院校级项目(2019-YB-42)。

摘　　要：为了提高共轴多旋翼无人机(UAV)在气流扰动和旋翼故障下的轨迹跟踪精度,提出了一种快速终端滑模容错控制方法。建立了共轴十二旋翼无人机的故障模型;设计了运动环快速终端滑模控制律将轨迹指令转换为速度指令,并利用滑模自适应律和滑模观测器分别估计出气流扰动和旋翼故障;针对速度环设计了快速终端滑模容错控制律,可使共轴十二旋翼UAV进行高精度轨迹跟踪。仿真实验结果表明,提出的方法与积分滑模容错控制方法相比能够更有效补偿旋翼故障和气流扰动的影响,最大轨迹跟踪误差仅为0.3 m,可以在0.2 s内准确估计出旋翼故障,最大气流扰动估计误差也仅为0.2 m/s^(2),具有更突出的轨迹跟踪效果。To improve the trajectory tracking accuracy of coaxial multi-rotor UAV under airflow disturbance and rotor fault,a fast terminal sliding-mode fault-tolerant control method is proposed.The fault model of a coaxial 12-rotor UAV was established.A fast terminal sliding-mode control law with a motion loop was designed to convert the trajectory command into the velocity command,and the air flow disturbance and rotor fault were estimated by using the sliding-mode adaptive law and the sliding-mode observer respectively.A fast terminal sliding-mode fault-tolerant control law was designed for the speed loop to achieve high precision of the coaxial 12-rotor UAV trajectory tracking.The simulation results show that the proposed method can compensate for the rotor fault and airflow disturbance more effectively,compared with the integrated sliding-mode fault-tolerant control method,and the maximum trajectory tracking error is only 0.3 m,which can accurately estimate the rotor fault within 0.2 s,and the maximum air disturbance estimation error is only 0.2 m/s^(2),which has great trajectory tracking effect.

关 键 词：无人机 旋翼故障 气流扰动 快速终端滑模 容错控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TP3[自动化与计算机技术—控制科学与工程]