小型无人直升机故障估计与容错控制
收稿日期: 2024-06-06
修回日期: 2024-06-24
录用日期: 2024-07-29
网络出版日期: 2024-08-21
基金资助
国家自然科学基金(62003233);山西省应用基础研究计划(201901D2110831);山西省科技重大专项计划“揭榜挂帅”项目(202201090301013);国网山西省电力公司科技项目(5205M0230007)
Fault estimation and fault tolerant control for small unmanned helicopters
Received date: 2024-06-06
Revised date: 2024-06-24
Accepted date: 2024-07-29
Online published: 2024-08-21
Supported by
National Natural Science Foundation of China(62003233);Shanxi Provincial Basic Research Program(201901D2110831);Shanxi Province Selects the Best Candidates to Undertake Major Science and Technology Research Project(202201090301013);State Grid Shanxi Electric Power Company Technology Project(5205M0230007)
张晓龙 , 李荣 , 阎高伟 , 肖舒怡 , 李国强 . 小型无人直升机故障估计与容错控制[J]. 航空学报, 2024 , 45(S1) : 730802 -730802 . DOI: 10.7527/S1000-6893.2024.30802
Faults in small unmanned helicopters will cause insufficient cyclic pitch response. To address this problem， a sliding mode fault-tolerant control method based on the sliding mode observer is designed.First， a sliding mode observer with the specified performance index is designed to estimate the state information of the longitudinal and lateral systems of the unmanned helicopter， and the equivalent output error injection principle is utilized to obtain the specific information of the cyclic pitch fault. Then， a sliding mode fault-tolerant controller is designed based on the cyclic pitch fault information to ensure the tracking performance of the system. Finally， the effectiveness of the sliding mode fault-tolerant control scheme based on the sliding mode observer is verified by numerical simulation. The simulation results show that the designed sliding mode fault-tolerant controller can guarantee the tracking control performance of longitudinal and lateral systems of the unmanned helicopter under the combined effect of external perturbations and cyclic pitch faults.
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