CN104699105A - Method for controlling fault tolerance of six-rotor aircraft - Google Patents
Method for controlling fault tolerance of six-rotor aircraft Download PDFInfo
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Abstract
The invention belongs to the field of flight control for rotor aircrafts, and particularly relates to a method for controlling fault tolerance of a six-rotor aircraft. The method includes cutting off power supply for a single rotor if faults which stop the single rotor from rotating occur, cutting off power supply for a rotor separated from the single rotor by a 180-degree position, and simultaneously stopping outputting control signals to the two rotors; directly cutting off power supply for two rotors when faults which stop the two rotors separated from each other by a 180-degree position occur, simultaneously stopping outputting control signals to the two corresponding rotors and controlling other four rotors of the six-rotor aircraft according to layout of an 'oblique cross' four-rotor aircraft. The method has the advantages that the six-rotor aircraft can be effectively controlled under the condition that the certain system faults of the aircraft occur, accordingly, crash accidents due to the certain system faults can be prevented, and the method has a certain significance on improving the safety and the reliability of the six rotors.
Description
Technical field
The invention belongs to the flight control method of rotor craft, be specifically related to a kind of fault tolerant control method of six rotorcraft.
Background technology
Six rotorcraft has the ability of vertical takeoff and landing, steadily hovering and autonomous cruise, and it has been widely used at military and civil field tool.In military affairs, can be used for reconnaissance and surveillance, injure assessment, military operations in urban terrain and the relaying etc. that communicates; On civil, can be used for taking photo by plane, environmental monitoring, forest fire protection and electric inspection process etc.
Six rotorcraft is the system of a multivariate, non-linear, strong coupling, has the dynamics of more complicated.But it is relatively simple for structure, and mobile system majority is all single redundancy design, in the process of flight, due to wind disturb, the reason such as engine luggine and collision obstacle, its mechanical component and ratio such as parts such as electricity tunes grade are easier to break down.If fault can not be detected and process fast, six rotorcraft due to out of hand by force unbalance, will can cause the accidents such as air crash.Therefore, for six rotorcraft, Fault Tolerance Control Technology just becomes the gordian technique improving its safety and reliability.So-called faults-tolerant control, when being exactly some component malfunction of aircraft, system still can decrease according to original performance index or performance index, and safe completes assigned tasks.
Summary of the invention
The object of the invention is to: for above-mentioned Problems existing, propose a kind of fault tolerant control method of six rotorcraft, to realize, when some system failure occurs aircraft, still realizing effective control of six rotorcraft.
Technical scheme of the present invention is:
If the fault causing single rotor stall appears in six rotorcraft, cut off to the power supply of this rotor, cut off the power supply of the rotor of its 180 ° of positions that are separated by simultaneously, and stop the control signal exporting these two rotors; Cause if occur being separated by the fault of two equal stalls of rotor of 180 °, then directly cut off to the power supply of these two rotors, stop the control signal exporting these two rotors simultaneously, and again according to the layout of " Saint Andrew's cross type " quadrotor, all the other four rotors of six rotorcraft are controlled.Specifically comprise the steps:
Step one: fault detection module carries out fault detect to six rotorcraft in real time, if do not have fault to occur, then repeats step one.
Cause the fault of single rotor stall if occur or the fault of two equal stalls of rotor of 180 ° of causing being separated by, then go to step two.
Step 2: the fault causing single rotor stall if occur, cuts off to the power supply of this rotor, and cuts off the power supply of the rotor of its 180 ° of positions that are separated by, and stops the control signal exporting these two rotors simultaneously.
Cause if occur being separated by the fault of two equal stalls of rotor of 180 °, then directly cut off to the power supply of these two rotors, stop the control signal exporting these two rotors simultaneously.
Step 3: six rotorcraft, after stall two rotors, becomes " Saint Andrew's cross type " quadrotor, again controls six rotorcraft according to the layout of " Saint Andrew's cross type " quadrotor.
In step 3, if rotor 1 or rotor 4 independent failure, or rotor 1 and rotor 4 break down simultaneously, cut off to the power supply of rotor 1 and 4, stop the control signal exporting these two rotors simultaneously, keep original body change in coordinate axis direction constant.
Then the control variable of original dummy vehicle becomes 4 from original 6, and other model parameters are constant.
Original controlled quentity controlled variable solution process is constant, still by expecting that attitude angle and high computational module are according to corresponding attitude angle and height instruction, calculate attitude angle and the height value of expectation, and the actual attitude angle fed back with attitude angle and height sensor and height value subtract each other, obtain the departure of attitude angle and height; Controlled quentity controlled variable resolves the calculating of module by the departure to attitude angle and height, obtains corresponding pitch control subsystem amount, roll unloads amount, driftage controlled quentity controlled variable and Throttle Opening Control amount.
Owing to having excised rotor 1 and 4, the control ability of pitch axis has been caused to weaken as original
for obtaining the control effects similar with original control, 2 are multiplied by the pitch control subsystem amount obtained; Rotor 1 and 4 does not provide roll unloads moment, so the controlled quentity controlled variable of wobble shaft is constant; Because the sense of rotation of rotor 1 and 4 is contrary, its anti-twisted moment produced inherently is cancelled out each other, so the stable not impact on yaw axis, but owing to having excised this two rotors, causes original driftage control ability to weaken as original
for obtaining the control effects similar with original control, 1.5 are multiplied by the driftage controlled quentity controlled variable obtained; Due to excision rotor 1 and 4, Throttle Opening Control reduced capability is originally original
for obtaining the control effects similar with original control, 1.5 are multiplied by the Throttle Opening Control amount obtained.
When new controlled quentity controlled variable is distributed after being compensated above four by control distribution module, change original allocation matrix, no longer give rotor 1 and rotor 4 dispensing controlled quantities, obtain new allocation matrix.
Before assumed fault, allocation matrix is:
According to above situation about analyzing, rotor 1 corresponding in allocation matrix and the 1st row of rotor 4 and the partition factor of the 4th row are set to 0, and the fault-tolerant allocation matrix of formation is:
By new allocation matrix with obtain new compensatory control amount and be multiplied, obtain the controlled quentity controlled variable of 4 rotors, be converted to " Saint Andrew's cross type " four rotor control.
In step 3, if rotor 2 or rotor 5 independent failure, or rotor 2 and rotor 5 break down simultaneously, cut off to the power supply of rotor 2 and 5, stop the control signal exporting these two rotors, original body coordinate axis, to anticlockwise 60 °, forms new body axis system simultaneously.
Then the control variable of original dummy vehicle becomes 4 from original 6, and other model parameters are constant.
The frame of reference of original attitude Course Measure System is the same with body axis system, and to anticlockwise 60 °, the new attitude course angle exported is postrotational; Original controlled quentity controlled variable solution process is constant, still by expecting that attitude angle and high computational module are according to corresponding attitude angle and height instruction, calculate attitude angle and the height value of expectation, and the actual attitude angle fed back with attitude angle and height sensor and height value subtract each other, obtain the departure of attitude angle and height; Controlled quentity controlled variable resolves the calculating of module by the departure to attitude angle and height, obtains corresponding pitch control subsystem amount, roll unloads amount, driftage controlled quentity controlled variable and Throttle Opening Control amount.
Owing to having excised rotor 2 and 5, and original body axis system is to anticlockwise 60 °, causes the control ability of pitch axis to weaken as original
for obtaining the control effects similar with original control, 2 are multiplied by the pitch control subsystem amount obtained; Original body axis system is after anticlockwise 60 °, and rotor 2 and 5 does not provide roll unloads moment, so the controlled quentity controlled variable of wobble shaft is constant; Because the sense of rotation of rotor 2 and 5 is contrary, its anti-twisted moment produced inherently is cancelled out each other, so the stable not impact on yaw axis, but owing to having excised this two rotors, causes original driftage control ability to weaken as original
for obtaining the control effects similar with original control, 1.5 are multiplied by the driftage controlled quentity controlled variable obtained; Due to excision rotor 2 and 5, Throttle Opening Control reduced capability is originally original
for obtaining the control effects similar with original control, 1.5 are multiplied by the Throttle Opening Control amount obtained.
When controlled quentity controlled variable after being compensated above four by control distribution module is distributed, change original allocation matrix, no longer give rotor 2 and rotor 5 dispensing controlled quantities, obtain new allocation matrix.
Before assumed fault, allocation matrix is:
According to above situation about analyzing, coordinate axis is to anticlockwise 60 °, and rotor 2 corresponding in allocation matrix and the 2nd row of rotor 5 and the partition factor of the 5th row are set to 0, and the fault-tolerant allocation matrix of formation is:
By new allocation matrix with obtain new compensatory control amount and be multiplied, obtain the controlled quentity controlled variable of 4 rotors, be converted to " Saint Andrew's cross type " four rotor control.
In step 3, if rotor 3 or rotor 6 independent failure, or rotor 3 and rotor 6 break down simultaneously, cut off to the power supply of rotor 3 and 6, stop the control signal exporting these two rotors, original body coordinate axis, to right rotation 60 °, forms new body axis system simultaneously.
Then the control variable of original dummy vehicle becomes 4 from original 6, and other model parameters are constant.
The frame of reference of original attitude Course Measure System is the same with body axis system, and to right rotation 60 °, the new attitude course angle exported is postrotational; Original controlled quentity controlled variable solution process is constant, still by expecting that attitude angle and high computational module are according to corresponding attitude angle and height instruction, calculate attitude angle and the height value of expectation, and the actual attitude angle fed back with attitude angle and height sensor and height value subtract each other, obtain the departure of attitude angle and height; Controlled quentity controlled variable resolves the calculating of module by the departure to attitude angle and height, obtains corresponding pitch control subsystem amount, roll unloads amount, driftage controlled quentity controlled variable and Throttle Opening Control amount.
Owing to having excised rotor 3 and 6, and original body axis system is to right rotation 60 °, causes the control ability of pitch axis to weaken as original
for obtaining the control effects similar with original control, 2 are multiplied by the pitch control subsystem amount obtained; Original body axis system is after right rotation 60 °, and rotor 3 and 6 does not provide roll unloads moment, so the controlled quentity controlled variable of wobble shaft is constant; Because the sense of rotation of rotor 3 and 6 is contrary, its anti-twisted moment produced inherently is cancelled out each other, so the stable not impact on yaw axis, but owing to having excised this two rotors, causes original driftage control ability to weaken as original
for obtaining the control effects similar with original control, 1.5 are multiplied by the driftage controlled quentity controlled variable obtained; Due to excision rotor 3 and 6, Throttle Opening Control reduced capability is originally original
for obtaining the control effects similar with original control, 1.5 are multiplied by the Throttle Opening Control amount obtained.
When controlled quentity controlled variable after being compensated above four by control distribution module is distributed, change original allocation matrix, no longer give rotor 3 and rotor 6 dispensing controlled quantities, obtain new allocation matrix.
Before assumed fault, allocation matrix is:
According to above situation about analyzing, coordinate axis is to right rotation 60 °, and rotor 3 corresponding in allocation matrix and the 3rd row of rotor 6 and the partition factor of the 6th row are set to 0, and the fault-tolerant allocation matrix of formation is:
By new allocation matrix with obtain new compensatory control amount and be multiplied, obtain the controlled quentity controlled variable of 4 rotors, be converted to " Saint Andrew's cross type " four rotor control.
When controlled quentity controlled variable resolves module by calculating pitch control subsystem amount, roll unloads amount, driftage controlled quentity controlled variable and Throttle Opening Control amount to the departure of attitude angle and height, adopt PID control method or dynamic inversion control method or Backstepping or H ∞ controls or LQR controls or feature configuration control method.
The invention has the advantages that:
(1) a kind of fault tolerant control method of six rotorcraft is proposed, to realize when some system failure occurs aircraft, still can realize effective control of six rotorcraft, avoiding the air crash accident caused because there is some system failure, to the safety and reliability of raising six rotor, there is definite meaning.
(2) propose a kind of fault tolerant control method of six rotorcraft, to realize when some system failure occurs aircraft, by compensating original controlled quentity controlled variable of six rotorcraft, still can obtain and originally controlling similar control effects.
(3) proposing a kind of fault tolerant control method of six rotorcraft, to realize when some system failure occurs aircraft, by changing original control allocation matrix, still can realize effective control of six rotorcraft.
Accompanying drawing explanation
Fig. 1 is six rotor structure schematic diagram.
Fig. 2 is six rotor control structure schematic diagram.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is described in further detail.It should be explicitly made clear at this point, specific embodiment described herein only in order to explain the present invention, and is not intended to limit the present invention.
The present invention proposes a kind of fault tolerant control method of six rotorcraft, to realize, when some system failure occurs aircraft, still realizing effective control of six rotorcraft.The fault that this method is suitable for comprises: cause the fault of single rotor stall or the fault of two equal stalls of rotor of 180 ° of causing being separated by, as rotor damage, electrical fault and electricity adjust fault etc.
If the fault causing single rotor stall appears in six rotorcraft, cut off to the power supply of this rotor, cut off the power supply of the rotor of its 180 ° of positions that are separated by simultaneously, and stop the control signal exporting these two rotors; Cause if occur being separated by the fault of two equal stalls of rotor of 180 °, then directly cut off to the power supply of these two rotors, stop the control signal exporting these two rotors simultaneously, and again according to the layout of " Saint Andrew's cross type " quadrotor, all the other four rotors of six rotorcraft are controlled.Specifically comprise the steps:
Step one: fault detection module carries out fault detect to six rotorcraft in real time, if do not have fault to occur, then repeats step one.
Cause the fault of single rotor stall if occur or the fault of two equal stalls of rotor of 180 ° of causing being separated by, then go to step two.
Step 2: the fault causing single rotor stall if occur, cuts off to the power supply of this rotor, and cuts off the power supply of the rotor of its 180 ° of positions that are separated by, and stops the control signal exporting these two rotors simultaneously.
Cause if occur being separated by the fault of two equal stalls of rotor of 180 °, then directly cut off to the power supply of these two rotors, stop the control signal exporting these two rotors simultaneously.
Step 3: six rotorcraft, after stall two rotors, becomes " Saint Andrew's cross type " quadrotor, again controls six rotorcraft according to the layout of " Saint Andrew's cross type " quadrotor.
Embodiment 1: in step 3, if rotor 1 or rotor 4 independent failure, or rotor 1 and rotor 4 break down simultaneously, cut off to the power supply of rotor 1 and 4, stop the control signal exporting these two rotors simultaneously, keep original body change in coordinate axis direction constant.
Then the control variable of original dummy vehicle becomes 4 from original 6, and other model parameters are constant.
Original controlled quentity controlled variable solution process is constant, as shown in Figure 2, still by expecting that attitude angle and high computational module are according to corresponding attitude angle and height instruction, calculate attitude angle and the height value of expectation, and the actual attitude angle fed back with attitude angle and height sensor and height value subtract each other, obtain the departure of attitude angle and height.Controlled quentity controlled variable resolves the calculating of module by the departure to attitude angle and height, obtain corresponding pitch control subsystem amount, roll unloads amount, driftage controlled quentity controlled variable and Throttle Opening Control amount, the algorithm of employing has PID control method or dynamic inversion control method or Backstepping or H ∞ controls or LQR controls or feature configuration control method.
Owing to having excised rotor 1 and 4, the control ability of pitch axis has been caused to weaken as original
for obtaining the control effects similar with original control, 2 are multiplied by the pitch control subsystem amount obtained; Rotor 1 and 4 does not provide roll unloads moment, so the controlled quentity controlled variable of wobble shaft is constant; Because the sense of rotation of rotor 1 and 4 is contrary, its anti-twisted moment produced inherently is cancelled out each other, so the stable not impact on yaw axis, but owing to having excised this two rotors, causes original driftage control ability to weaken as original
for obtaining the control effects similar with original control, 1.5 are multiplied by the driftage controlled quentity controlled variable obtained; Due to excision rotor 1 and 4, Throttle Opening Control reduced capability is originally original
for obtaining the control effects similar with original control, 1.5 are multiplied by the Throttle Opening Control amount obtained.
If attitude angle and height instruction are [pitch_RC, roll_RC, yaw_RC, height_RC]
t, wherein pitch_RC is angle of pitch instruction, and roll_RC is roll angle instruction, and yaw_RC is crab angle instruction, and height_RC is height instruction, and the expectation attitude angle obtained and height value are [pitchC, rollC, yawC, heightC]
t, wherein pitchC is for expecting angle of pitch value, and rollC is for expecting roll angle value, yawC for expecting crab angle value, heightC for expecting height value, the attitude angle that the multi-rotor aerocraft obtained by attitude sensor and position transducer is current and be highly [pitch, roll, yaw, height]
t, wherein pitch is the current angle of pitch, and roll is current roll angle, and yaw is current crab angle, and height is present level, then the departure of current pose angle and height is:
The departure of current pose angle and height is calculated, obtains four controlled quentity controlled variables [upitch, uroll, uyaw, uheight] of multi-rotor aerocraft
t, wherein upitch is angle of pitch controlled quentity controlled variable, and uroll is roll angle controlled quentity controlled variable, and uyaw is crab angle controlled quentity controlled variable, and uheight is Altitude control amount; Carry out correction-compensation to four controlled quentity controlled variables obtained, after compensating, new controlled quentity controlled variable is [2*upitch, uroll, 1.5*uyaw, 1.5*uheight]
t.
When new controlled quentity controlled variable is distributed after being compensated above four by control distribution module, change original allocation matrix, no longer give rotor 1 and rotor 4 dispensing controlled quantities, obtain new allocation matrix.
Before assumed fault, allocation matrix is:
According to above situation about analyzing, rotor 1 corresponding in allocation matrix and the 1st row of rotor 4 and the partition factor of the 4th row are set to 0, and the fault-tolerant allocation matrix of formation is:
By new allocation matrix with obtain new compensatory control amount and be multiplied, obtain the controlled quentity controlled variable of 4 rotors, be converted to " Saint Andrew's cross type " four rotor control.
Embodiment 2: in step 3, if rotor 2 or rotor 5 independent failure, or rotor 2 and rotor 5 break down simultaneously, cut off to the power supply of rotor 2 and 5, stop the control signal exporting these two rotors, original body coordinate axis, to anticlockwise 60 °, forms new body axis system simultaneously.
Then the control variable of original dummy vehicle becomes 4 from original 6, and other model parameters are constant.
The frame of reference of original attitude Course Measure System is the same with body axis system, and to anticlockwise 60 °, the new attitude course angle exported is postrotational.Original controlled quentity controlled variable solution process is constant, as shown in Figure 2, still by expecting that attitude angle and high computational module are according to corresponding attitude angle and height instruction, calculate attitude angle and the height value of expectation, and the actual attitude angle fed back with attitude angle and height sensor and height value subtract each other, obtain the departure of attitude angle and height.Controlled quentity controlled variable resolves the calculating of module by the departure to attitude angle and height, obtains corresponding pitch control subsystem amount, roll unloads amount, driftage controlled quentity controlled variable and Throttle Opening Control amount.
Owing to having excised rotor 2 and 5, and original body axis system is to anticlockwise 60 °, causes the control ability of pitch axis to weaken as original
for obtaining the control effects similar with original control, 2 are multiplied by the pitch control subsystem amount obtained; Original body axis system is after anticlockwise 60 °, and rotor 2 and 5 does not provide roll unloads moment, so the controlled quentity controlled variable of wobble shaft is constant; Because the sense of rotation of rotor 2 and 5 is contrary, its anti-twisted moment produced inherently is cancelled out each other, so the stable not impact on yaw axis, but owing to having excised this two rotors, causes original driftage control ability to weaken as original
for obtaining the control effects similar with original control, 1.5 are multiplied by the driftage controlled quentity controlled variable obtained; Due to excision rotor 2 and 5, Throttle Opening Control reduced capability is originally original
for obtaining the control effects similar with original control, 1.5 are multiplied by the Throttle Opening Control amount obtained.
If attitude angle and height instruction are [pitch_RC, roll_RC, yaw_RC, height_RC]
t, wherein pitch_RC is angle of pitch instruction, and roll_RC is roll angle instruction, and yaw_RC is crab angle instruction, and height_RC is height instruction, and the expectation attitude angle obtained and height value are [pitchC, rollC, yawC, heightC]
t, wherein pitchC is for expecting angle of pitch value, and rollC is for expecting roll angle value, yawC for expecting crab angle value, heightC for expecting height value, the attitude angle that the multi-rotor aerocraft obtained by attitude sensor and position transducer is current and be highly [pitch, roll, yaw, height]
t, wherein pitch is the current angle of pitch, and roll is current roll angle, and yaw is current crab angle, and height is present level, then the departure of current pose angle and height is:
The departure of current pose angle and height is calculated, obtains four controlled quentity controlled variables [upitch, uroll, uyaw, uheight] of multi-rotor aerocraft
t, wherein upitch is angle of pitch controlled quentity controlled variable, and uroll is roll angle controlled quentity controlled variable, and uyaw is crab angle controlled quentity controlled variable, and uheight is Altitude control amount; Carry out correction-compensation to four controlled quentity controlled variables obtained, after compensating, new controlled quentity controlled variable is [2*upitch, uroll, 1.5*uyaw, 1.5*uheight]
t.
When new controlled quentity controlled variable is distributed after being compensated above four by control distribution module, change original allocation matrix, no longer give rotor 2 and rotor 5 dispensing controlled quantities, obtain new allocation matrix.
Before assumed fault, allocation matrix is:
According to above situation about analyzing, coordinate axis is to anticlockwise 60 °, and rotor 2 corresponding in allocation matrix and the 2nd row of rotor 5 and the partition factor of the 5th row are set to 0, and the fault-tolerant allocation matrix of formation is:
By new allocation matrix with obtain new compensatory control amount and be multiplied, obtain the controlled quentity controlled variable of 4 rotors, be converted to " Saint Andrew's cross type " four rotor control.
Embodiment 3: in step 3, if rotor 3 or rotor 6 independent failure, or rotor 3 and rotor 6 break down simultaneously, cut off to the power supply of rotor 3 and 6, stop the control signal exporting these two rotors, original body coordinate axis, to right rotation 60 °, forms new body axis system simultaneously.
Then the control variable of original dummy vehicle becomes 4 from original 6, and other model parameters are constant.
The frame of reference of original attitude Course Measure System is the same with body axis system, and to right rotation 60 °, the new attitude course angle exported is postrotational.Original controlled quentity controlled variable solution process is constant, as shown in Figure 2, still by expecting that attitude angle and high computational module are according to corresponding attitude angle and height instruction, calculate attitude angle and the height value of expectation, and the actual attitude angle fed back with attitude angle and height sensor and height value subtract each other, obtain the departure of attitude angle and height.Controlled quentity controlled variable resolves the calculating of module by the departure to attitude angle and height, obtains corresponding pitch control subsystem amount, roll unloads amount, driftage controlled quentity controlled variable and Throttle Opening Control amount.
Owing to having excised rotor 3 and 6, and original body axis system is to right rotation 60 °, causes the control ability of pitch axis to weaken as original
for obtaining the control effects similar with original control, 2 are multiplied by the pitch control subsystem amount obtained; Original body axis system is after right rotation 60 °, and rotor 3 and 6 does not provide roll unloads moment, so the controlled quentity controlled variable of wobble shaft is constant; Because the sense of rotation of rotor 3 and 6 is contrary, its anti-twisted moment produced inherently is cancelled out each other, so the stable not impact on yaw axis, but owing to having excised this two rotors, causes original driftage control ability to weaken as original
for obtaining the control effects similar with original control, 1.5 are multiplied by the driftage controlled quentity controlled variable obtained; Due to excision rotor 3 and 6, Throttle Opening Control reduced capability is originally original
for obtaining the control effects similar with original control, 1.5 are multiplied by the Throttle Opening Control amount obtained.
If attitude angle and height instruction are [pitch_RC, roll_RC, yaw_RC, height_RC]
t, wherein pitch_RC is angle of pitch instruction, and roll_RC is roll angle instruction, and yaw_RC is crab angle instruction, and height_RC is height instruction, and the expectation attitude angle obtained and height value are [pitchC, rollC, yawC, heightC]
t, wherein pitchC is for expecting angle of pitch value, and rollC is for expecting roll angle value, yawC for expecting crab angle value, heightC for expecting height value, the attitude angle that the multi-rotor aerocraft obtained by attitude sensor and position transducer is current and be highly [pitch, roll, yaw, height]
t, wherein pitch is the current angle of pitch, and roll is current roll angle, and yaw is current crab angle, and height is present level, then the departure of current pose angle and height is:
The departure of current pose angle and height is calculated, obtains four controlled quentity controlled variables [upitch, uroll, uyaw, uheight] of multi-rotor aerocraft
t, wherein upitch is angle of pitch controlled quentity controlled variable, and uroll is roll angle controlled quentity controlled variable, and uyaw is crab angle controlled quentity controlled variable, and uheight is Altitude control amount; Carry out correction-compensation to four controlled quentity controlled variables obtained, after compensating, new controlled quentity controlled variable is [2*upitch, uroll, 1.5*uyaw, 1.5*uheight]
t.
When new controlled quentity controlled variable is distributed after being compensated above four by control distribution module, change original allocation matrix, no longer give rotor 3 and rotor 6 dispensing controlled quantities, obtain new allocation matrix.
Before assumed fault, allocation matrix is:
According to above situation about analyzing, coordinate axis is to right rotation 60 °, and rotor 3 corresponding in allocation matrix and the 3rd row of rotor 6 and the partition factor of the 6th row are set to 0, and the fault-tolerant allocation matrix of formation is:
By new allocation matrix with obtain new compensatory control amount and be multiplied, obtain the controlled quentity controlled variable of 4 rotors, be converted to " Saint Andrew's cross type " four rotor control.
Claims (6)
1. a six rotorcraft fault tolerant control method, is characterized in that, causes the fault of single rotor stall if occur, cuts off to the power supply of this rotor, cuts off the power supply of the rotor of its 180 ° of positions that are separated by simultaneously, and stops the control signal exporting these two rotors; Cause if occur being separated by the fault of two equal stalls of rotor of 180 °, then directly cut off to the power supply of these two rotors, stop the control signal exporting these two rotors simultaneously, and again according to the layout of " Saint Andrew's cross type " quadrotor, all the other four rotors of six rotorcraft are controlled.
2. six rotorcraft fault tolerant control method according to claim 1, is characterized in that, comprise the steps:
Step one: fault detection module carries out fault detect to six rotorcraft in real time, if do not have fault to occur, then repeats step one;
Cause the fault of single rotor stall if occur or the fault of two equal stalls of rotor of 180 ° of causing being separated by, then go to step two;
Step 2: the fault causing single rotor stall if occur, cuts off to the power supply of this rotor, and cuts off the power supply of the rotor of its 180 ° of positions that are separated by, and stops the control signal exporting these two rotors simultaneously;
Cause if occur being separated by the fault of two equal stalls of rotor of 180 °, then directly cut off to the power supply of these two rotors, stop the control signal exporting these two rotors simultaneously;
Step 3: six rotorcraft, after stall two rotors, becomes " Saint Andrew's cross type " quadrotor, again controls six rotorcraft according to the layout of " Saint Andrew's cross type " quadrotor.
3. six rotorcraft fault tolerant control method according to claim 2, it is characterized in that, in step 3, if rotor 1 or rotor 4 independent failure, or rotor 1 and rotor 4 break down simultaneously, cut off to the power supply of rotor 1 and 4, stop the control signal exporting these two rotors simultaneously, keep original body change in coordinate axis direction constant;
Then the control variable of original dummy vehicle becomes 4 from original 6, and other model parameters are constant;
Original controlled quentity controlled variable solution process is constant, still by expecting that attitude angle and high computational module are according to corresponding attitude angle and height instruction, calculate attitude angle and the height value of expectation, and the actual attitude angle fed back with attitude angle and height sensor and height value subtract each other, obtain the departure of attitude angle and height; Controlled quentity controlled variable resolves the calculating of module by the departure to attitude angle and height, obtains corresponding pitch control subsystem amount, roll unloads amount, driftage controlled quentity controlled variable and Throttle Opening Control amount;
Owing to having excised rotor 1 and 4, the control ability of pitch axis has been caused to weaken as original
for obtaining the control effects similar with original control, 2 are multiplied by the pitch control subsystem amount obtained; Rotor 1 and 4 does not provide roll unloads moment, so the controlled quentity controlled variable of wobble shaft is constant; Because the sense of rotation of rotor 1 and 4 is contrary, its anti-twisted moment produced inherently is cancelled out each other, so the stable not impact on yaw axis, but owing to having excised this two rotors, causes original driftage control ability to weaken as original
for obtaining the control effects similar with original control, 1.5 are multiplied by the driftage controlled quentity controlled variable obtained; Due to excision rotor 1 and 4, Throttle Opening Control reduced capability is originally original
for obtaining the control effects similar with original control, 1.5 are multiplied by the Throttle Opening Control amount obtained;
When new controlled quentity controlled variable is distributed after being compensated above four by control distribution module, change original allocation matrix, no longer give rotor 1 and rotor 4 dispensing controlled quantities, obtain new allocation matrix;
Before assumed fault, allocation matrix is:
According to above situation about analyzing, rotor 1 corresponding in allocation matrix and the 1st row of rotor 4 and the partition factor of the 4th row are set to 0, and the fault-tolerant allocation matrix of formation is:
By new allocation matrix with obtain new compensatory control amount and be multiplied, obtain the controlled quentity controlled variable of 4 rotors, be converted to " Saint Andrew's cross type " four rotor control.
4. six rotorcraft fault tolerant control method according to claim 2, it is characterized in that, in step 3, if rotor 2 or rotor 5 independent failure, or rotor 2 and rotor 5 break down simultaneously, cut off to the power supply of rotor 2 and 5, stop the control signal exporting these two rotors simultaneously, original body coordinate axis, to anticlockwise 60 °, forms new body axis system;
Then the control variable of original dummy vehicle becomes 4 from original 6, and other model parameters are constant;
The frame of reference of original attitude Course Measure System is the same with body axis system, and to anticlockwise 60 °, the new attitude course angle exported is postrotational; Original controlled quentity controlled variable solution process is constant, still by expecting that attitude angle and high computational module are according to corresponding attitude angle and height instruction, calculate attitude angle and the height value of expectation, and the actual attitude angle fed back with attitude angle and height sensor and height value subtract each other, obtain the departure of attitude angle and height; Controlled quentity controlled variable resolves the calculating of module by the departure to attitude angle and height, obtains corresponding pitch control subsystem amount, roll unloads amount, driftage controlled quentity controlled variable and Throttle Opening Control amount;
Owing to having excised rotor 2 and 5, and original body axis system is to anticlockwise 60 °, causes the control ability of pitch axis to weaken as original
for obtaining the control effects similar with original control, 2 are multiplied by the pitch control subsystem amount obtained; Original body axis system is after anticlockwise 60 °, and rotor 2 and 5 does not provide roll unloads moment, so the controlled quentity controlled variable of wobble shaft is constant; Because the sense of rotation of rotor 2 and 5 is contrary, its anti-twisted moment produced inherently is cancelled out each other, so the stable not impact on yaw axis, but owing to having excised this two rotors, causes original driftage control ability to weaken as original
for obtaining the control effects similar with original control, 1.5 are multiplied by the driftage controlled quentity controlled variable obtained; Due to excision rotor 2 and 5, Throttle Opening Control reduced capability is originally original
for obtaining the control effects similar with original control, 1.5 are multiplied by the Throttle Opening Control amount obtained;
When controlled quentity controlled variable after being compensated above four by control distribution module is distributed, change original allocation matrix, no longer give rotor 2 and rotor 5 dispensing controlled quantities, obtain new allocation matrix;
Before assumed fault, allocation matrix is:
According to above situation about analyzing, coordinate axis is to anticlockwise 60 °, and rotor 2 corresponding in allocation matrix and the 2nd row of rotor 5 and the partition factor of the 5th row are set to 0, and the fault-tolerant allocation matrix of formation is:
By new allocation matrix with obtain new compensatory control amount and be multiplied, obtain the controlled quentity controlled variable of 4 rotors, be converted to " Saint Andrew's cross type " four rotor control.
5. six rotorcraft fault tolerant control method according to claim 2, it is characterized in that, in step 3, if rotor 3 or rotor 6 independent failure, or rotor 3 and rotor 6 break down simultaneously, cut off to the power supply of rotor 3 and 6, stop the control signal exporting these two rotors simultaneously, original body coordinate axis, to right rotation 60 °, forms new body axis system;
Then the control variable of original dummy vehicle becomes 4 from original 6, and other model parameters are constant;
The frame of reference of original attitude Course Measure System is the same with body axis system, and to right rotation 60 °, the new attitude course angle exported is postrotational; Original controlled quentity controlled variable solution process is constant, still by expecting that attitude angle and high computational module are according to corresponding attitude angle and height instruction, calculate attitude angle and the height value of expectation, and the actual attitude angle fed back with attitude angle and height sensor and height value subtract each other, obtain the departure of attitude angle and height; Controlled quentity controlled variable resolves the calculating of module by the departure to attitude angle and height, obtains corresponding pitch control subsystem amount, roll unloads amount, driftage controlled quentity controlled variable and Throttle Opening Control amount;
Owing to having excised rotor 3 and 6, and original body axis system is to right rotation 60 °, causes the control ability of pitch axis to weaken as original
for obtaining the control effects similar with original control, 2 are multiplied by the pitch control subsystem amount obtained; Original body axis system is after right rotation 60 °, and rotor 3 and 6 does not provide roll unloads moment, so the controlled quentity controlled variable of wobble shaft is constant; Because the sense of rotation of rotor 3 and 6 is contrary, its anti-twisted moment produced inherently is cancelled out each other, so the stable not impact on yaw axis, but owing to having excised this two rotors, causes original driftage control ability to weaken as original
for obtaining the control effects similar with original control, 1.5 are multiplied by the driftage controlled quentity controlled variable obtained; Due to excision rotor 3 and 6, Throttle Opening Control reduced capability is originally original
for obtaining the control effects similar with original control, 1.5 are multiplied by the Throttle Opening Control amount obtained;
When controlled quentity controlled variable after being compensated above four by control distribution module is distributed, change original allocation matrix, no longer give rotor 3 and rotor 6 dispensing controlled quantities, obtain new allocation matrix;
Before assumed fault, allocation matrix is:
According to above situation about analyzing, coordinate axis is to right rotation 60 °, and rotor 3 corresponding in allocation matrix and the 3rd row of rotor 6 and the partition factor of the 6th row are set to 0, and the fault-tolerant allocation matrix of formation is:
By new allocation matrix with obtain new compensatory control amount and be multiplied, obtain the controlled quentity controlled variable of 4 rotors, be converted to " Saint Andrew's cross type " four rotor control.
6. the six rotorcraft fault tolerant control method according to any one of claim 3,4,5, it is characterized in that, when controlled quentity controlled variable resolves module by calculating pitch control subsystem amount, roll unloads amount, driftage controlled quentity controlled variable and Throttle Opening Control amount to the departure of attitude angle and height, adopt PID control method or dynamic inversion control method or Backstepping or H ∞ controls or LQR controls or feature configuration control method.
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