小型无人直升机故障估计与容错控制

doi:10.7527/S1000-6893.2024.30802

Abstract

Abstract:

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.

Key words: small unmanned helicopter, fault estimation, sliding mode observer, tolerant control, sliding mode control

CLC Number:

V249.1

Xiaolong ZHANG, Rong LI, Gaowei YAN, Shuyi XIAO, Guoqing LI. Fault estimation and fault tolerant control for small unmanned helicopters[J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(S1): 730802.

Figures/Tables 7

Table 1

Parameters of Raptor 90SE model［19］

参数	数值	参数	数值
g/（m·s $- 2$ ）	$9.389$	$X u$	$- 0.039 96$
$X a$	$- 9.389$	$Y v$	$- 0.059 89$
$Y b$	$9.389$	$M u$	$0.254 2$
$M v$	$- 0.06$ 0 13	$M a$	$307.571$
$L u$	$- 0.024 4$	$L v$	$- 0.117$ 3
$L b$	$1 172.481$ 7	$1 / τ f$	$30.71$
$A b$	$0.771$ 3	$B a$	$0.616$ 8
$A l o n$	$4.059$	$A l a t$	$- 0.016 1$
$B l o n$	$- 0.01$ 0 17	$B l a t$	$4.085$

Table 1

Fig.1

Fig.2

Fig.3

Fig.4

Fig.5

Fig.6

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Fault estimation and fault tolerant control for small unmanned helicopters

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