无人机桨叶损伤的在线模型估计新方法

doi:10.7527/S1000-6893.2019.23316

Abstract

Abstract: Highly complicated environments usually lead to blade impairment of unmanned rotor aerial vehicle,causing deleterious impact on control performance and stability, even inducing catastrophic consequences. Online estimate and reestablishment of the dynamic model in the presence of blade impairment are solid foundations of ensuring the stability of the post-fault unmanned rotor aerial vehicle. Nevertheless, since the blade impairments are inside the unmanned rotor aerial vehicle, its low visibility renders the typical observer method unable to achieve estimation. This study presents a novel penetrating disturbance observer that can estimate the blade damage via the establishment of a penetrating function and the projection of the blade damage. Moreover, the convergence of estimation error is verified and the model uncertainty is quantitatively analyzed. The hardware-in-the-loop platform based on a quadrotor unmanned aerial vehicle is established to validate the effectiveness of the proposed method. The experiment results exemplify that the developed method can estimate the disturbance induced by blade impairments, overcoming the difficulty of estimating torque under the condition of blade impairment, thereby achieving the model recognition.

Key words: online modeling, quantitative analysis of model uncertainty, disturbance observer, blade impairment, unmanned aerial vehicle

CLC Number:

ZHANG Xiao, NI Ming, YU Xiang, GUO Lei. A novel estimation method for blade impairments of unmanned aerial vehicle[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2020, 41(1): 323316-323316.

References 22

[1]	CAI G W, JORGE D, LAKMAL S. A survey of small-scale unmanned aerial vehicles:Recent advances and future development trends[J]. Unmanned Systems, 2014, 2(2):175-199.
[2]	MUELLER M W, D'ANDREA R. Stability and control of a quadrocopter despite the complete loss of one, two, or three propellers[C]//IEEE International Conference on Robotics & Automation (ICRA). Piscataway, NJ:IEEE Press, 2014:45-52.
[3]	ZHANG W, MUELLER M W, D'ANDREA R. A controllable flying vehicle with a single moving part[C]//IEEE International Conference on Robotics and Automation (ICRA). Piscataway, NJ:IEEE Press, 2016:3275-3281.
[4]	MUELLER M W, D'ANDREA R. Relaxed hover solutions for multicopters:Application to algorithmic redundancy and novel vehicles[J]. The International Journal of Robotics Research, 2016, 35(8):873-889.
[5]	DYDEK Z T, ANNASWAMY A M, LAVRETSKY E. Adaptive control of quadrotor UAVs:A design trade study with flight evaluations[J]. IEEE Transactions on Control Systems Technology, 2012, 21(4):1400-1406.
[6]	ZHANG Y M, JIANG J. Bibliographical review on reconfigurable fault-tolerant control systems[J]. Annual Reviews in Control, 2008, 32(2):229-252.
[7]	ZHANG Y M, CHAMSEDDINE A, RABBATH C A, et al. Development of advanced FDD and FTC techniques with application to an unmanned quadrotor helicopter testbed[J]. Journal of the Franklin Institute, 2013, 350(9):2396-2422.
[8]	CHEN W H, BALLANCE D J, GAWTHROP P J, et al. A nonlinear disturbance observer for robotic manipulators[J]. IEEE Transactions on Industrial Electronics, 2000, 47(4):932-938.
[9]	GUO L, CHEN W H. Disturbance attenuation and rejection for systems with nonlinearity via DOBC approach[J]. International Journal of Robust and Nonlinear Control, 2005, 15(3):109-125.
[10]	王发威, 董新民, 陈勇, 等.多操纵面飞机舵面损伤的快速故障诊断[J]. 航空学报, 2015, 36(7):2350-2360. WANG F W, DONG X M, CHEN Y, et al. Fast fault diagnosis of multi-effectors aircraft with control surface damage[J]. Acta Aeronauticaeta Astronautica Sinica, 2015, 36(7):2350-2360(in Chinese).
[11]	ROTONDO D, CRISTOFARO A, JOHANSEN T A, et al. Robust fault and icing diagnosis in unmanned aerial vehicles using LPV interval observers[J]. International Journal of Robust and Nonlinear Control, 2019, 29(16):5456-5480.
[12]	LU H, LIU C, GUO L, et al. Flight control design for small-scale helicopter using disturbance-observer-based backstepping[J]. Journal of Guidance, Control, and Dynamics, 2015, 38(11):2235-2240.
[13]	ZHANG J, ZHOU L, LI C, et al. Binary observers based control for quadrotor unmanned aerial vehicle with disturbances and measurement delay[J]. Proceedings of the Institution of Mechanical Engineers, Part G:Journal of Aerospace Engineering, 2018, 232(15):2807-2820.
[14]	CAYERO B J F, ROTONDO D, MORCEGO S B, et al. Optimal state observation using quadratic boundedness:Application to UAV disturbance estimation[J]. International Journal of Applied Mathematics and Computer Science, 2019, 29(1):99-109.
[15]	LU Q, REN B, PARAMESWARAN S. Shipboard landing control enabled by an uncertainty and disturbance estimator[J]. Journal of Guidance, Control, and Dynamics, 2018, 41(7):1502-1520.
[16]	BESNARD L, SHTESSEL Y B, LANDRUM B. Quadrotor vehicle control via sliding mode controller driven by sliding mode disturbance observer[J]. Journal of the Franklin Institute, 2012, 349(2):658-684.
[17]	CHENG Y, JIANG L, LI T, et al. Robust tracking control for a quadrotor UAV via DOBC approach[C]//2018 Chinese Control and Decision Conference (CCDC), 2018:559-563.
[18]	KIM J, KANG M, PARK S, et al. Accurate modeling and robust hovering control for a quadrotor VTOL aircraft[J]. Journal of Intelligent and Robotic Systems, 2010, 57(1):9-26.
[19]	MA D, XIA Y, LI T, et al. Active disturbance rejection and predictive control strategy for a quadrotor helicopter[J]. IET Control Theory & Applications, 2016, 10(17):2213-2222.
[20]	LYU X, ZHOU J, GU H, et al. Disturbance observer based hovering control of quadrotor tail-sitter VTOL UAVs using H∞ synthesis[J]. IEEE Robotics and Automation Letters, 2018, 3(4):2910-2917.
[21]	MAHONY R, KUMAR V, CORKE P. Multirotor aerial vehicles:Modeling, estimation, and control of quadrotor[J]. IEEE Robotics & Automation Magazine, 2012, 19(3):20-32.
[22]	郑大钟. 线性系统理论[M]. 北京:清华大学出版社, 2002:238-242. ZHENG D Z. Linear systom theory[M]. Beijing:Tsinghua University Press, 2002:238-242(in Chinese).

A novel estimation method for blade impairments of unmanned aerial vehicle

PDF (PC)

Knowledge

Abstract

Cite this article

share this article

References 22

Related Articles 15

Recommended Articles

Metrics

Comments

[1]	Wei ZHANG, Ruojun HE. Autonomous trajectory design for IoT data collection by UAV [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(8): 329054-329054-1.
[2]	Chunhui ZHAO, Anmeng LIU, Yang LYU, Quan PAN. A survey of resilient self-localization for UAV [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(8): 28839-028839.
[3]	Chao AN, Guixi HUO, Yang MENG, Changchuan XIE, Chao YANG. Aerodynamic modeling methods and influence of layout parameters for wingtip⁃hinged multi⁃body combined UAV [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(6): 629587-629587.
[4]	Xudong LUO, Yiquan WU, Jinlin CHEN. Research progress on deep learning methods for object detection and semantic segmentation in UAV aerial images [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(6): 28822-028822.
[5]	Gaojie ZHENG, Xiaoming HE, Dongpo LI, Huijun TAN, Kun WANG, Zhenlong WU, Depeng WANG. Double 90° deflection inlet/volute coupling flow characteristics of tail-powered unmanned aerial vehicle [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(4): 128782-128782.
[6]	Qingrui ZHANG, Yunyun LIU, Huijie SUN, Bo ZHU. Robust cooperative tracking control for close formation of fixed⁃wing unmanned aerial vehicles [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(1): 629233-629233.
[7]	Kaixin CUI, Guangren DUAN. High⁃order fully actuated anti⁃disturbance control for a type of combined spacecraft based on disturbance observer [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(1): 628892-628892.
[8]	Hongzhen GUO, Mou CHEN, Yongdong DAI, Maofei WANG. Distributed adaptive event⁃triggered formation control for QUAVs [J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(S2): 729917-729917.
[9]	Kunda LIU, Xueming LIU, Bo ZHU, Qingrui ZHANG. Robust safe control for multi⁃UAV formation flight through narrow corridors [J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(S2): 729768-729768.
[10]	An ZHANG, Mi YANG, Wenhao BI, Baichuan ZHANG, Yunong WANG. Task allocation of heterogeneous multi-UAVs in uncertain environment based on multi-strategy integrated GWO [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023, 44(8): 327115-327115.
[11]	Guotao MAO, Tianmin DENG, Nanjing YU. Object detection in UAV images based on multi-scale split attention [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023, 44(5): 326738-326738.
[12]	Zhongsen WANG, Yuxin LIAO, Caisheng WEI, Ting DAI. Fast terminal sliding mode fault⁃tolerant control of hypersonic vehicle with guaranteed performance [J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(24): 328476-328476.
[13]	Yifang FU, Xinyue HU, Yulu HUANG, Ban WANG, Jiangtao HUANG. A binocular vision⁃based autonomous aerial docking system design for UAVs [J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(20): 628884-628884.
[14]	Wei LI, Yan GUO, Ning LI, Cuntao LIU, Hao YUAN. Intelligent reflector surface assisted UAV mobile edge computing task data maximization method [J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(19): 328486-328486.
[15]	Haolan CHEN, Peng WANG, Guojian TANG. Attitude control scheme for morphing vehicles with output error constraints and input saturation [J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(15): 528762-528762.