摘要
固定翼无人机是一个具有复杂特性的强耦合、多输入多输出非线性系统。首先给出无人机的动力学模型,然后基于动态逆方法设计出具有一定稳定性的自适应控制器;考虑无人机飞行控制过程中的控制器故障问题,设计出能结合自适应控制器的可重构控制系统,该系统包括故障检测系统、控制器重构系统,能在检测出无人机控制器故障的同时,重新构造控制器,以实现无人机的稳定飞行;仿真结果表明:在控制器卡死情形下,对比单纯使用自适应控制器的控制效果可以发现,使用该方法的无人机对这类问题具备良好的应对能力,能使无人机姿态运动更接近于无故障情况。
Fixed-wing UAV is a complicated nonlinear system with strong coupling,multi-input multi-output(MIMO).Firstly,the dynamics model of fixed-wing UAV was given in the paper and an adaptive controller of the mode was designed based on dynamic inversion method;Considering the problem of controller fault in the process of UAV controlling,a reconfigurable control system including fault detection and controller reconfiguration was designed to solve the problem,which can quickly detect the fault and reconstruct the controller sign at the same time,realizing the stable flight of UAV.The simulation results show that,in the situation of actuator jam,the method proposed in the paper have greater ability to cope with actuator jam problem than purely using adaptive controller,which can track the desired attitudes stably.
作者
唐余
刘永春
曹立佳
林达
刘小芳
TANG Yu;LIU Yongchun;CAO Lijia;LIN Da;LIU Xiaofang(School of Automation&Information Engineering,Sichuan University of Science&Engineering,Yibin 644000,China;School of Physics and Electronics Engineering,Sichuan University of Science&Engineering,Yibin 644000,China;School of Computer Science,Sichuan University of Science&Engineering,Yibin 644000,China;Artificial Intelligence Key Laboratory of Sichuan Province,Yibin 644000,Sichuan,China;Sichuan Key Provincial Research Base of Intelligent Tourism,Zigong 643000,Sichuan,China;School of Information and Electronics Engineering,Xuzhou University of Technology,Xuzhou 221111,China)
出处
《兵器装备工程学报》
CAS
北大核心
2019年第7期138-143,共6页
Journal of Ordnance Equipment Engineering
基金
人工智能四川省重点实验室基础研究重点项目(2016RZJ02)
四川省科技计划项目(19ZDZX0037)
四川省科技计划项目(2017GZ0303)
四川省智慧旅游研究基地规划项目(ZHZJ18-01)
四川理工学院人才引进项目(2018RCL18)
校级研究生创新基金资助项目(y2018037)
徐州工程学院培育项目(XKY2018126)
关键词
控制器故障
可重构控制
故障检测
控制重构
自适应控制器
actuator failure
reconfigurable control
fault detection
control reconfiguration
adaptive controller
