海军航空大学学报2023，Vol.38Issue(6)：449-456,8.DOI:10.7682/j.issn.2097-1427.2023.06.002
作动器故障下的无人机容错控制方法
Fault-Tolerant Control Method of UAV Under Actuator Fault
摘要
Abstract
In the course of UAV flight,the sensors and actuators of the UAV may fail.A fault-tolerant control method combining reverse step method and control distribution is proposed to solve the actuator fault of conventional layout UAV.Firstly,the UAV mathematical model is established,and the actuator fault is classified and modeled.Secondly,the reverse step optimal controller and fault-tolerant controller based on control assignment are designed according to the model.Finally,through simulation verification,the experimental results show that the designed fault tolerant control meth-od can realize the fast and stable attitude control under the fault of the actuator,and the stability is good,basically no side-slip angle,and each control surface is within the constraint range,meeting the fault tolerant control requirements.关键词
作动器故障/反步法/控制分配/容错控制Key words
actuator fault/backstep method/control allocation/fault-tolerant control引用本文复制引用
崔玉伟,孙雪..作动器故障下的无人机容错控制方法[J].海军航空大学学报,2023,38(6):449-456,8.基金项目
航空科学基金(20200007018001) （20200007018001）
