CN105045105B - A kind of four-rotor helicopter fault tolerant control and method for states with time-delay - Google Patents
A kind of four-rotor helicopter fault tolerant control and method for states with time-delay Download PDFInfo
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Abstract
The invention discloses a kind of four-rotor helicopter fault tolerant control and method for states with time-delay, the device includes direct fault location module, Helicopter System platform, data acquisition module, fault diagnosis module and power amplifier, direct fault location module is connected with Helicopter System platform, and the fault message of simulation is injected into Helicopter System platform；The status information and control information of data collecting module collected helicopter；Fault diagnosis module receiving status information and control information, faults-tolerant control rule is obtained, and faults-tolerant control rule is resend to data acquisition module；After data acquisition module processing faults-tolerant control rule, the motor that control instruction is transferred in Helicopter System platform by power amplifier performs fault-tolerant adjustment, until error is zero.Four-rotor helicopter linear mathematical model of the invention based on foundation, using improved Guaranteed Cost Controller and model reference adaptive, solve the problems, such as faults-tolerant control of the system under the conditions of interference, state time delay and multiple faults.
Description
Technical Field
The invention belongs to the technical field of helicopter fault-tolerant control, and particularly relates to a four-rotor helicopter fault-tolerant control device and method aiming at state time lag.
Background
In recent years, quadrotors are widely used in the fields of rescue, search, monitoring and the like. The dynamic model of the quadrotor helicopter is an under-actuated, highly-coupled nonlinear system, so that the control research of the quadrotor is a hot project with certain challenges. Various faults of the quadrotors can be caused due to the problems of external interference, time delay, actuator performance attenuation and the like. In order to ensure the emergency processing capability of the system and ensure the safe operation of the system, the fault evaluation, analysis and fault tolerance control of the system are very important.
In order to realize the design of the fault-tolerant control system of the four-rotor helicopter, a hardware redundancy-based method is generally adopted at present to improve the reliability of the system, but the cost, the weight of the four-rotor helicopter and the complexity of the control system are increased at the same time. And the fault diagnosis based on the analytic redundancy utilizes an advanced control theory to estimate the position, the size and the system state vector of the fault, excavates the redundancy design control law of the system, saves the cost, effectively inhibits the fault effect, and monitors the normal operation of the system, but no relevant description exists in the prior art.
Due to the delay of information transmission and measurement, various control systems generally have a time-lag problem, so the control problem for the time-lag system has gained greater attention in recent years. For a four-rotor helicopter with a state time lag, the flight performance of the control system is necessarily greatly affected because the time lag causes the control system to oscillate. In order to ensure good flight performance of the helicopter, the problem of time lag is very critical to solve.
Disclosure of Invention
In view of the above-mentioned deficiencies of the prior art, an object of the present invention is to provide a fault-tolerant control apparatus and method for a quad-rotor helicopter, which aims to solve the problem of fault-tolerant control of a quad-rotor helicopter system under the conditions of disturbance, state delay and multiple faults. .
In order to realize the purpose, the invention adopts the following technical scheme:
a fault-tolerant control device of a four-rotor helicopter aiming at state time lag comprises a fault injection module, a helicopter system platform, a data acquisition module, a fault diagnosis module and a power amplifier, wherein,
the fault injection module is connected with the helicopter system platform and injects the simulated fault information into the helicopter system platform;
the data acquisition module acquires state information and error information of the helicopter through a built-in sensor of the helicopter system platform;
the fault diagnosis module is connected with the data acquisition module, receives the state information and the error information transmitted by the data acquisition module to obtain a fault-tolerant control law, and retransmits the fault-tolerant control law to the data acquisition module;
the power amplifier is connected with the data acquisition module and the helicopter system platform, and after the data acquisition module processes the fault-tolerant control law, the data acquisition module transmits a control instruction to a motor in the helicopter system platform through the power amplifier to execute fault-tolerant adjustment until the error is zero.
The data acquisition module comprises a data acquisition device and a signal compiling and converting module, wherein,
the data acquisition device is used for acquiring voltage input information and an attitude angle of the helicopter system platform;
the signal compiling and converting device is used for processing the compiling and decoding and analog-to-digital conversion operation between the helicopter system platform and the fault diagnosis module;
the signal compiling and converting device and the data acquisition device are connected in sequence.
The fault diagnosis module comprises a state information module, an error information module, an improved performance-preserving controller and a model reference adaptive controller, wherein,
the state information module and the error information module acquire the state information and the error information output by the data acquisition module;
the improved performance-maintaining controller and the model reference adaptive controller determine a fault-tolerant control law by using the acquired state information and error information and send the fault-tolerant control law to the data acquisition module.
The improved performance-guaranteeing controller consists of a model reference linear quadratic regulator and a performance-guaranteeing controller; the model reference linear quadratic regulator is used for tracking a reference system, suppressing disturbance and solving the problem that the performance-guaranteed controller cannot be used for a linear model with a state coefficient matrix of not full rank; the performance guarantee controller is used for solving the state delay problem.
The helicopter system platform is a 3-DOF hover platform.
A four-rotor helicopter fault-tolerant control device method aiming at state time lag based on the device comprises the following steps:
step 1, establishing a four-rotor helicopter body coordinate system, determining the definitions of pitching, yawing and rolling axes, and establishing a linear dynamic model of a dynamic attitude angle under a normal condition;
step 2, determining a state space expression when the dynamic attitude angle system of the quadrotor helicopter has no fault; injecting the fault into the system, and determining a state space expression under the system fault;
and 3, obtaining state information of the system from the data acquisition module on the basis of the step 2, wherein the state information comprises the pitch, yaw and roll angles, subtracting the state quantity reference value in the reference model from the state information to obtain error information, constructing a four-rotor helicopter flight attitude fault-tolerant controller, monitoring actuator faults and other interferences in the pitch, yaw and roll directions in real time, outputting a fault-tolerant control law to the data acquisition module, and transmitting a control signal to a motor to be executed through a power amplifier.
The invention has the beneficial effects that:
(1) By adopting a software fault injection method, the integrity of the attitude control system is not damaged, the position and the size of fault injection can be freely selected, additional hardware equipment is not needed, and physical damage to a fault injection execution mechanism is not caused;
(2) The improved performance-maintaining controller solves the problem that the performance-maintaining controller is not suitable for a linear model of a quadrotor helicopter by combining the model reference linear secondary regulator with the performance-maintaining controller, and effectively ensures the robust stability of a time-lag helicopter system;
(3) The improved performance-maintaining controller is combined with the model reference self-adaptive controller, so that the fault-tolerant control capability of a time-lag quadrotor helicopter system on faults is effectively solved;
(4) Reflecting fault injection conditions, the current working state of an actuating mechanism and attitude changes in a human-computer interaction interface in real time, and realizing fault early warning and real-time monitoring;
(5) The method is used for verifying the reliability and the fault handling capacity of the attitude control system, and has the advantages of convenient operation, low cost, high cost performance and strong realizability;
(6) The method can be used for executing mechanism fault analysis and system reliability analysis in the semi-physical simulation test stage of the helicopter attitude control system.
Drawings
FIG. 1 is a schematic diagram of a fault-tolerant control arrangement for a quad-rotor helicopter for time lag according to the present invention;
FIG. 2 is a simple model of a quad-rotor helicopter system;
FIG. 3 is a system pitch curve without a fault;
FIG. 4 is a system yaw curve without a fault;
FIG. 5 is a roll angle curve for a system without fault;
FIG. 6 is a system pitch curve when there is a fault;
FIG. 7 is a system yaw curve when there is a fault;
FIG. 8 is a plot of system roll angle at fault.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
As shown in fig. 1, the fault-tolerant control device for a quad-rotor helicopter according to the present invention includes a fault injection module, a helicopter system platform, a data acquisition module, a fault diagnosis module, and a power amplifier, wherein,
the fault injection module is connected with the helicopter system platform and injects simulated fault information into the helicopter system platform;
the data acquisition module acquires state information and error information of the helicopter through a built-in sensor of the helicopter system platform;
the fault diagnosis module is connected with the data acquisition module, receives the state information and the error information transmitted by the data acquisition module to obtain a fault-tolerant control law, and retransmits the fault-tolerant control law to the data acquisition module;
and the power amplifier is connected with the data acquisition module and the helicopter system platform, and after the data acquisition module processes the fault-tolerant control law, the data acquisition module transmits a control instruction to a motor in the helicopter system platform through the power amplifier to execute fault-tolerant adjustment until the error is zero.
The data acquisition module comprises a data acquisition device and a signal compiling and converting module, wherein,
the data acquisition device is used for acquiring voltage input information and an attitude angle of the helicopter system platform;
the signal compiling and converting device is used for processing the compiling and decoding and analog-to-digital conversion operation between the helicopter system platform and the fault diagnosis module;
the signal compiling and converting device and the data acquisition device are connected in sequence.
The fault diagnosis module comprises a state information module, an error information module, an improved performance controller and a model reference adaptive controller, wherein,
the state information module and the error information module acquire the state information and the error information output by the data acquisition module;
the improved performance-maintaining controller and the model reference adaptive controller determine a fault-tolerant control law by using the acquired state information and error information and send the fault-tolerant control law to the data acquisition module.
The improved performance-guaranteeing controller consists of a model reference linear quadratic regulator and a performance-guaranteeing controller; the model reference linear quadratic regulator is used for tracking a reference system, suppressing disturbance and solving the problem that the performance-guaranteed controller cannot be used for a linear model with a state coefficient matrix of not full rank; the performance guarantee controller is used for solving the state delay problem.
The fault injection module is realized by MATLAB software, and partial loss faults and motor blocking faults are simulated by adjusting output voltage.
The helicopter system platform, the power amplifier and the data acquisition module are outsourcing 3-DOF (degree of freedom) hover platforms (comprising a four-rotor helicopter body, a power amplifier with the model of UPM 2405 capable of outputting 24V linear voltage and 5A current at most and a signal acquisition board with the model of Q8, and a matlab, a LABVIEW, a real-time control software QuaRC and the like are installed on a computer);
the fault diagnosis module realizes real-time control and man-machine interaction, and the designed software algorithm is realized through matlab, LABVIEW and QuaRC software, and comprises the input and analysis of collected data and the design and output of a fault-tolerant control law. The input and analysis of the collected data comprises decoding from the data acquisition card and obtaining state and error information; the design and output of the fault tolerant control law includes an improved performance controller and a model reference adaptive controller. The interface part of the designed software can display the helicopter running state data so as to realize real-time monitoring and control of faults.
Encoders 0-2 ports on a data acquisition card are connected To (ENC 0) - (ENC 2) on A3-DOF platform by white lines, anglog Outputs 0-3 ports are respectively connected To From D/A of four power amplifiers by black lines, and corresponding power To loads are connected To (D/A0) - (D/A3) on the 3-DOF platform by black lines.
Referring to fig. 2-8, the method for controlling the fault-tolerant quadrotor helicopter in terms of state time lag based on the device comprises the following steps:
step 1, establishing a body coordinate system, determining the definitions of pitch, yaw and roll axes, and establishing a linear dynamic model of a dynamic attitude angle under a normal condition;
the pitch, yaw and roll angle equations for a quadrotor helicopter are:
the parameters in the formula represent the meanings: theta, psi and phi are respectively a pitch angle, a yaw angle and a roll angle, K f Is the coefficient of lift of the rotor, K tn 、K tc Are respectively the clockwise and counterclockwise rotation moment coefficients of the rotor, J p Is the moment of inertia of the body about the pitch axis, J y Is the moment of inertia of the body about the yaw axis, J r Is the moment of inertia of the body about the roll axis, U f 、U b 、U l 、U r Driving voltage values of a forward motor, a backward motor, a left motor and a right motor of the four-rotor helicopter respectively, wherein l is the length from a coordinate origin to a motor central point;
the above equation is determined under the following hypothetical relationship:
(1) The structure of the aircraft is rigid and strictly symmetrical;
(2) The aircraft center is at the structural center;
(3) The voltage and the torque of the direct current motor are in a linear relation;
(4) The change in the attitude angle of the aircraft is small, i.e. less than 10 °.
Step 2, determining a state space expression when the four-rotor helicopter dynamics attitude angle system is fault-free; injecting a fault into a system, and determining a state space expression under the system fault;
determining a dynamic model of the system under the condition that the fault is an actuator damage fault, wherein the model is as follows:
in the formulaFor the state vector, v (t) is E.R 4×1 For controlling the input vector, y (t) = [ theta, psi, phi]∈R 3×1 For the output vector, τ is the system state delay, d (t) is equal to R 4 For an unknown external disturbance to be bounded,for a stuck-fault input vector, f (t) ∈ R 4×4 For a partial failure coefficient matrix, σ (t) e R 4×4 Is a stuck fault coefficient matrix which respectively meets the following conditions:
a, B, C are system matrices, A τ Is a state delay matrix of which
A τ ＝A
Step 3, obtaining the pitch, yaw and roll angles of the system, namely state information, from the data secondary acquisition module on the basis of the step 2, subtracting the state quantity reference value in the reference model from the state information to obtain error information, constructing a four-rotor helicopter flight attitude fault-tolerant controller, monitoring actuator faults and other interferences in the pitch, yaw and roll directions in real time, outputting a fault-tolerant control law to the data acquisition module, and transmitting a control signal to a motor to be executed through a power amplifier;
the four-rotor flight attitude fault-tolerant controller comprises an improved performance-maintaining controller and a model reference self-adaptive controller, state quantity and error quantity of a system are respectively transmitted into a state information module and an error information module by a data acquisition module, and the data of the two modules are utilized to respectively obtain the output of the improved performance-maintaining controller and the output of the model reference self-adaptive controller. The improved performance-maintaining controller can inhibit the influence of disturbance on the system, ensure the robust stability of the system under the state delay, reconstruct the control system by model reference self-adaptation and ensure the good tracking performance of the system under the condition of multiple faults, and specifically execute the steps for the fault diagnosis device in the following process:
step 31, selecting a reference model for system tracking, which is defined as:
in the formula x m (t) is the state quantity that the system expects to track, r (t) is the input that the system expects to track, y m Is the desired output of the system, A m ，B m ，C m Is a matrix of appropriate dimensions.
Step 32, design of the improved performance-preserving controller. The improved performance-maintaining controller is used for maintaining the tracking performance of the system under the fault-free condition and ensuring the robust stability of the state delay system. In a fault-free condition, the system (2) can be represented as:
the improved performance-guaranteeing controller comprises a model reference linear quadratic regulator and a performance-guaranteeing controller. The model reference linear quadratic regulator is mainly used for tracking a reference system, suppressing disturbance and solving the problem that the performance-maintaining controller cannot be used for a linear model with a state coefficient matrix of not full rank. The performance-maintaining controller is mainly used for solving the problem of state delay.
The design of the model reference linear quadratic regulator is first performed. The performance index function is selected as follows:
wherein Q ∈ R 6×6 For a symmetric semi-positive definite matrix, R ∈ R 4×4 Is a symmetric positive definite matrix.
To obtain the model reference linear quadratic regulator feedback gain, the Hamilton function was chosen as follows:
according toThe optimal control input of the model reference linear quadratic regulator is obtained as follows:
u lqr (t)＝K lqr (x(t)-x m (t))＝-R -1 B T P(x(t)-x m (t)) (7)
and designing a performance-guaranteeing controller. Control input to a performance-preserving controller
Let v (t) = u lqr (t)+u gcc (t) into the system (4) to obtain
In the formula A lqr ＝A+BK lqr 。
Assuming the presence of a positive definite symmetric matrixAnd a matrix of appropriate dimensionsSatisfies the following linear matrix inequality
In the formula
And the disturbance satisfies the following inequality
x T (t)P 1 Bd(t)-x T (t)P 1 BK lqr x m (t)&The input to the retention controller can be expressed as lt, 0 (11)
And the system (9) has a robust stability.
Selecting the Lyapunov function
In the formula P 1 ∈R n×n ，Q 1 ∈R n×n And Q 1 ∈R n×n Is a positive definite symmetric matrix.
Derived from formula (13)
According to the formula (11), a
In the formulaΨ 11 ＝P 1 (A lqr +BK gcc )+(A lqr +BK gcc ) T P 1 +Q 1 +τQ 2
Because of the fact that
In the formula
According to the linear matrix inequality (10), the system robustness and stability can be obtained.
In accordance with the foregoing, the control inputs of the improved performance guarantee controller may be represented as
And step 33, designing a model reference adaptive system. Model reference adaptation is mainly used for reconstructing a control system and compensating actuator faults of the quadrotor helicopter.
Assuming the existence of a constant matrixAndsatisfies the following conditions
Then the model reference adaptive control law can be designed as follows
u ac (t)＝K 1 (t)x(t)+K 2 (t)r(t)+K 3 (t) (19)
In the formula K 1 (t)∈R 4×6 ，K 2 (t)∈R 4×4 And K 3 (t)∈R 4×1 Are respectivelyandAn estimated value of, and
combining the improved performance-preserving controller control input (17) with the model-reference-adaptive control input (19) results in an input control law
Substituting the control law (20) into the system (2) to obtain
Because the improved performance controller can compensate for the effects of disturbances and state delays, it is desirable to provide a system that can compensate for these effects
According to equation (22), the system (21) can be simplified to
Defining a state error as
e(t)＝x(t)-x m (t) (24)
Derived from formula (24)
Suppose there is a matrix M s ，Γ∈R 4×4 Satisfy the following requirements
Adaptive control law designed as follows
In the formula P 2 ∈R 6×6 For positively determining the symmetric matrix, the positive determination matrix Q is symmetric for arbitrary constant values 3 ∈R 6×6 Satisfy the requirements of
Selecting the following Lyapunov function
Derived from formula (29)
Obtained by the Barbalt theoremThe system can be kept stable under the action of the control law (20).
The present invention is verified by simulation as follows.
Under fault-free conditions, injected interference d = [1.2 1.2.1 =] T And state delay τ =0.5s. The control effect of the improved performance-maintaining controller on the fault-free time-lag quadrotors is verified. The pitch, yaw and roll response curves for the four rotors are shown in figures 3-5.
In a fault condition, f (t) = [ 0.2.5.0.5.1] T ，σ(t)＝[0 0 0 0] T ，10s<t<20s，f(t)＝[0.2 0.5 0.5 1] T ，σ(t)＝[0 0 0 1] T ，t>, 20s. When 10s is simulated, 20% of voltage loss occurs in a forward motor, 50% of voltage loss occurs in a backward motor, and 50% of voltage loss occurs in a left motor; at 20s, the right motor has a stuck-at fault. Validating improved performance-preserving controller and model-reference adaptive controller for lag quadrotor helicopter with actuator failureAnd controlling the effect. The pitch, yaw and roll response curves for the four rotors are shown in figures 6-8.
As can be seen from the steps and the attached drawings, the fault-tolerant control of the quadrotor helicopter with the time lag caused by the failure of the actuator can be effectively realized, the good tracking performance of the system is ensured, and the fault-tolerant control method has important significance for real-time monitoring and fault early warning.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (3)
1. A fault-tolerant control method for a four-rotor helicopter aiming at state time lag is characterized by comprising the following steps: the method comprises the following steps:
step 1, establishing a four-rotor helicopter body coordinate system, determining the definitions of pitching, yawing and rolling axes, and establishing a linear dynamic model of a dynamic attitude angle under a normal condition;
step 2, determining a state space expression when the dynamic attitude angle system of the quadrotor helicopter has no fault; injecting the fault into the system, and determining a state space expression under the system fault;
step 2, determining a state space expression of the system under the condition that the fault is an actuator damage fault, wherein the state space expression is as follows:
in the formula (I), the compound is shown in the specification,for the state vector, v (t) is E.R 4×1 For controlling the input vector, y (t) = [ theta, psi, phi]∈R 3×1 For the output vector, τ is the system state delay, d (t) is equal to R 4 For an unknown external disturbance to be bounded,for a stuck-fault input vector, f (t) ∈ R 4×4 For a partial failure coefficient matrix, σ (t) ∈ R 4×4 Is a stuck fault coefficient matrix which respectively satisfies the following conditions:
a, B, C are system matrices, A τ Is a state delay matrix in which
And 3, obtaining state information of the system from the data acquisition module on the basis of the step 2, wherein the state information comprises the pitch, yaw and roll angles, subtracting the state quantity reference value in the reference model from the state information to obtain error information, constructing a four-rotor helicopter flight attitude fault-tolerant controller, monitoring actuator faults in the pitch, yaw and roll directions in real time, outputting a fault-tolerant control law to the data acquisition module, and transmitting a control signal to a motor to be executed through a power amplifier.
2. The method for fault tolerant control of a quad-rotor helicopter for state time lag of claim 1, wherein: the pitch, yaw and roll angle equations of the quadrotor helicopter in the step 1 are as follows:
the parameters in the formula represent the following meanings: theta, psi and phi are respectively a pitch angle, a yaw angle and a roll angle, K f Is the coefficient of lift of the rotor, K tn 、K tc Are respectively the clockwise and counterclockwise rotation moment coefficients of the rotor, J p Is the moment of inertia of the body about the pitch axis, J y Is the moment of inertia of the body about the yaw axis, J r Is the moment of inertia of the body about the roll axis, U f 、U b 、U l 、U r Driving voltage values of a forward motor, a backward motor, a left motor and a right motor of the four-rotor helicopter respectively, wherein l is the length from a coordinate origin to a motor central point;
the above equation is determined under the following hypothetical relationship:
(1) The structure of the aircraft is rigid and strictly symmetrical;
(2) The aircraft center is at the structural center;
(3) The voltage and the moment of the direct current motor are in a linear relation;
(4) The change of the attitude angle of the aircraft is less than 10 degrees.
3. The method for state-lag quadrotor helicopter fault tolerant control of claim 1, wherein: the specific execution steps of the four-rotor helicopter flight attitude fault-tolerant controller in the step 3 are as follows:
step 31, selecting a reference model for system tracking, which is defined as:
in the formula x m (t) is the state quantity that the system expects to track, r (t) is the input that the system expects to track, y m Is the desired output of the system, A m ，B m ，C m Is a dimensionally appropriate matrix;
step 32, designing an improved performance-guaranteeing controller:
an improved fail-safe controller for maintaining state-lag quadrotors tracking performance under fault-free conditions, the control inputs of the improved fail-safe controller being expressed as:
step 33, designing a model reference adaptive system:
model reference adaptation is used to reconstruct the control system, compensating for actuator faults of a quadrotor helicopter, assuming the presence of a constant matrixAndthe following conditions are satisfied:
the model reference adaptive control law is designed as follows:
u ac (t)＝K 1 (t)x(t)+K 2 (t)r(t)+K 3 (t)
in the formula K 1 (t)∈R 4×6 ，K 2 (t)∈R 4×4 And K 3 (t)∈R 4×1 Are respectivelyandAn estimated value of, and
the self-adaptive control law is as follows:
in the formula P 2 ∈R 6×6 For positively determining the symmetric matrix, the positive determination matrix Q is symmetric for arbitrary constant values 3 ∈R 6×6 Satisfy the requirements of
The input control law after reconstruction is as follows:
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| CN111413866B (en) * | 2020-03-06 | 2021-08-06 | 大连理工大学 | Time delay considered aero-engine distributed control law design and verification method |
| CN111354238A (en) * | 2020-03-17 | 2020-06-30 | 云南师范大学 | Unmanned ship fault simulation system |
| CN112925204B (en) * | 2021-01-21 | 2022-06-24 | 深圳翱诺科技有限公司 | Optimal fault-tolerant control method of non-affine system based on reinforcement learning |
| CN114721272A (en) * | 2022-04-22 | 2022-07-08 | 同济大学 | Trajectory tracking control method, apparatus, device and computer readable storage medium |
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| CN102854874B (en) * | 2012-06-18 | 2015-08-12 | 南京航空航天大学 | A kind of fault diagnosis and fault-tolerant control device based on the many observers of associating |
| CN104007663B (en) * | 2014-05-13 | 2017-08-25 | 南京航空航天大学 | A kind of probabilistic four rotors attitude-adaptive fault tolerant control method of containing parameter |
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