CN108614573A - The automatic fault tolerant attitude control method of six rotor wing unmanned aerial vehicles - Google Patents
The automatic fault tolerant attitude control method of six rotor wing unmanned aerial vehicles Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The present invention provides a kind of automatic fault tolerant attitude control methods of six rotor wing unmanned aerial vehicles, include the following steps：The electric current and/or voltage for acquiring multiple motors on six rotor wing unmanned aerial vehicles judge that each motor whether there is failure according to the electric current and/or voltage；When it is faulty motor to judge a motor, another motor adjacent with the faulty motor and opposite rotation direction is closed；The serial number of the paddle i driven according to the faulty motor selects corresponding mapping matrix Ri, and according to the mapping matrix RiInput attitude angle is converted into attitude angle in order to control, i is the natural number for being less than or equal to 6 more than or equal to 0；The control attitude angle is inputted into the flight control modules of six rotor wing unmanned aerial vehicle and is flown with controlling six rotor wing unmanned aerial vehicle.Present invention when having inclined setting angle of each motor in six rotor wing unmanned aerial vehicles can optimize power distribution according to the fault condition of motor, realize the faults-tolerant control of six rotor wing unmanned aerial vehicles.
Description
Technical field
The present invention relates to multi-rotor unmanned aerial vehicles, and in particular, to a kind of automatic fault tolerant gesture stability of six rotor wing unmanned aerial vehicles
Method.
Background technology
Six rotor wing unmanned aerial vehicles of standard are compared than four axis rotor wing unmanned aerial vehicles, there is better stability.It is equipped with more
Motor is to obtain better control effect.Six rotor wing unmanned aerial vehicles in the case of a motor failure, still than four axis rotors without
A man-machine more motor.And this is often still controllable by the aircraft of a motor of thinking to fail for mistake.
But it in fact can not strict guarantee hovering after losing a motor when six rotor wing unmanned aerial vehicles.And it is directed to and incites somebody to action
Motor has the unmanned plane of mounted angle, in the case of 6 propeller normal works and 1 damage, general unmanned machine
Flying control algorithm does not support motor to have the control of the unmanned plane and bad paddle of mounted angle.Therefore it needs to design a kind of control algolithm
The faults-tolerant control of six rotor wing unmanned aerial vehicles is realized with framework.
Invention content
For the defects in the prior art, the object of the present invention is to provide a kind of automatic fault tolerant postures of six rotor wing unmanned aerial vehicles
Control method.Needle of the present invention changes the setting angle of six rotor wing unmanned aerial vehicle motors, optimizes power according to the fault condition of motor
The faults-tolerant control of six rotor wing unmanned aerial vehicles is realized in distribution.The wherein position of six rotor wing unmanned aerial vehicles and gesture stability can be described as follows：
Remote controler sends out pitching, roll, yaw angle and throttle command, and six rotor wing unmanned aerial vehicles receive the order of remote controler, at six
Automatic fault tolerant control may be implemented when motor is normal and an electrical fault.
According to the automatic fault tolerant attitude control method of six rotor wing unmanned aerial vehicle provided by the invention, six rotor wing unmanned aerial vehicle
Each motor has with respect to the horizontal plane tilts established angle α, inclination established angle β in another direction along a side, including walks as follows
Suddenly：
Step S1：The electric current and/or voltage for acquiring multiple motors on six rotor wing unmanned aerial vehicles, according to the electric current and/or electricity
Pressure judges that each motor whether there is failure；
Step S2：When it is faulty motor to judge a motor, closes another adjacent with the faulty motor and turn
The opposite motor in dynamic direction；
Step S3：The serial number of the paddle i driven according to the faulty motor selects corresponding mapping matrix Ri, and root
According to the mapping matrix RiInput attitude angle is converted into attitude angle in order to control, i is the natural number for being less than or equal to 6 more than or equal to 0；
Step S4：The control attitude angle is inputted into the flight control modules of six rotor wing unmanned aerial vehicle to control described six
Rotor wing unmanned aerial vehicle flies.
Preferably, further include following steps：
Step S5：The flight attitude angle of six rotor wing unmanned aerial vehicle is acquired by sensor；
Step S6：According to the deviation between the control attitude angle and the flight attitude angle, calculating need to be to described six
The target propulsive force that rotor wing unmanned aerial vehicle appliesWith target torque τr, and then according to the target propulsive forceWith target torque τrMeter
Calculate the rotating speed of each motor.
Preferably, when the electric current of a motor and/or voltage exist such as under type, judge that there are failures for the motor：
The electric current is more than upper current limit threshold value；
The electric current is less than lower current limit threshold value；
The current change rate is more than current change rate threshold value；
The voltage is more than upper voltage limit threshold value；
The voltage is less than lower voltage limit threshold value；
The voltage changing rate is more than voltage changing rate threshold value.
Preferably, further include following steps before the step S1：
Step M1：Establish body coordinate system FB, FB={ OB, (xB,yB,zB), wherein OBFor the center of body, zB、xB、yB
The respectively Z axis of six rotor wing unmanned aerial vehicles, X-axis, Y-axis；zBSix rotor wing unmanned aerial vehicles are indicated in equilibrium state, the side perpendicular to ground
To xBIt indicates across the center of the body along the direction that the head of the body extends, yBIt indicates perpendicular to zBAnd xBSide
To；
When motor i is horizontally mounted, initial motor coordinate system is established, the z in the initial motor coordinate systemCFor Z axis, table
Show the axis direction of motor i and the direction perpendicular to ground, xCFor X-axis, indicate across the center of the motor i along the horn
The direction of extension, yCFor Y-axis, indicate perpendicular to zCAnd xCForm the direction of plane；
Step M2：For each motor i, when motor i driving slurries wing i is rotated clockwise, by motor i around xCAxis is inverse
Hour hands rotation alphaiAngle and around yCAxis is counterclockwise rotation βiAngle；When motor i driving slurries wing i is rotated counterclockwise, by the electricity
Machine i is around xCAxis rotates clockwise αiAngle and around yCAxis is counterclockwise rotation βiAngle；In the present embodiment, the rotation counterclockwise
It is located at the outside of six rotor wing unmanned aerial vehicle with the observation position rotated clockwise.
Step M3：For motor i, motor coordinate system after rotation is established Its
In, i indicates that the serial number of motor, i are the natural number for being less than or equal to 6 more than 0,Indicate the center of motor i, For
The Z axis of motor i, X-axis, Y-axis；For Z axis, the axis direction of motor i is indicated,For X-axis, indicate across the motor i's
Center is in β with the direction that the horn extendsiThe direction of angle,For Y-axis, indicate perpendicular toWithDirection；
Step M4：It will be eachAxis and zBAngle between axis is indicated by tilting established angle α, β, due to the i-th paddle
ZpiAxis and the axial direction of the rotary shaft of the wing are equidirectional, the z of the i-th paddlepiAxis and body coordinate system zBRotation relationship between axis
For,
zpi=Ry(βi)Rx(αi)zB
Wherein, Ry(βi) indicate yBThe spin matrix in direction, Rx(αi) indicate xBThe spin moment in direction indicates as follows respectively：
Work as zBWhen=[0 0 1], it can obtain：
The third element of matrix；
Step M5：I-th paddle will produce along zpiThe thrust f in directioniAnd torque taui,It can be expressed as in coordinate system,
Wherein, kfi、kτiFor with the relevant constant coefficient of paddle physical characteristic, kfiFor the Relation Parameters of thrust and rotating speed, kτiFor
The Relation Parameters of torque and rotating speed, ωiFor the rotating speed of each paddle ,+indicate the direction of rotation of the paddle be it is clockwise ,-indicate
The direction of rotation of the paddle is counterclockwise.
Gross thrust caused by all propellers that can be rotated of six rotor wing unmanned aerial vehiclesWith total torque τcIt is sat on ground
Mark systemUnder can be expressed as
Wherein, piIndicate originIn body coordinate system FBIn position, u=[ω1|ω1|,ω2|ω2|…,ω6|ω6
|], F1U is inputted in order to control to the transition matrix for the thrust for being applied to unmanned plane, F2U is inputted in order to control to turn for being applied to unmanned plane
The transition matrix of square, n are the sum for the motor that can be rotated, and n is less than or equal to i, and R is earth axes and motor coordinate after rotation
SystemBetween transition matrix, Indicate the reasonable matrix number of 3 × n；
Kinetic model according to newton Euler's formula, six rotor wing unmanned aerial vehicles with inclination angle is as follows,
Wherein, the quality of six rotor wing unmanned aerial vehicles is m, and g is acceleration of gravity, and ω is the attitude angle of six rotor wing unmanned aerial vehicles,
For the angular speed of six rotor wing unmanned aerial vehicles, J is rotary inertia,For acceleration, e3For earth axes Z axis (0,0,1).
Preferably, the RiIncluding R0、R1、R2、R3、R4、R5And R6；
When there is no electrical fault, using mapping matrix R0,
Six rotor wing unmanned aerial vehicle includes number one motor, No. second motor, third motor, No. four motor, the 5th
Number motor and No. six motor；
When number one motor, No. second electrical fault, using mapping matrix R1、R2,
When third motor, No. four electrical fault, using mapping matrix R3、R4,
When No. five motor, No. six electrical fault, using mapping matrix R5、R6,
Preferably, according to the mapping matrix RiInput attitude angle is converted into attitude angle in order to control, specially：
[Φ θ ψ]control=Ri[Φ θ ψ]pilot
[Φ θ ψ]pilotTo input attitude angle, [Φ θ ψ]controlAttitude angle in order to control, Φ indicate that roll angle, θ indicate
Pitch angle, ψ indicate yaw angle.
Preferably, the step S5 includes the following steps：
Step S501：Steady state solution is solved, specifically, when six rotor wing unmanned aerial vehicles meet following formula when hovering posture：
By F2U=0 is it is found that steady state solution u belongs to transition matrix F2Nuclear space, can determine the solution of u be reduced into one it is straight
Line, according to RF1U=mge3It can determine that u is uniquely solved；
Step S502：Make total torque τcAs possible close to target torque τr, gross thrustAs possible close to target propulsive force
Power distribution is solved by following optimization aim,
And then can be obtained by merging simplification,
Wherein, c is scalar factor.
Preferably, the motor is connected with pedestal with angle, and the pedestal is fixed on six rotor wing unmanned aerial vehicle motors
On horizontal frames.
Compared with prior art, the present invention has following advantageous effect：
Present invention when having inclined setting angle of each motor in six rotor wing unmanned aerial vehicles, can be according to the event of motor
Hinder situation optimization power distribution, realize the faults-tolerant control of six rotor wing unmanned aerial vehicles, i.e., six motors are normal and a motor therefore
Automatic fault tolerant control may be implemented when barrier.
Description of the drawings
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 is the module diagram of six rotor wing unmanned aerial vehicles in the present invention；
Fig. 2 is the step flow chart of the automatic fault tolerant attitude control method of six rotor wing unmanned aerial vehicles in the present invention；
Fig. 3 is the integrated flow figure of the mapping algorithm of input attitude angle in the present invention；
Fig. 4 is the integrated flow figure of power distribution module in the present invention.
Specific implementation mode
With reference to specific embodiment, the present invention is described in detail.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection domain.
In the present embodiment, the present invention be directed to six rotor wing unmanned aerial vehicle safeties defect and deficiency, change six rotors without
The setting angle of man-machine motor realizes the faults-tolerant control of six rotor wing unmanned aerial vehicles according to power distribution is optimized the characteristics of motor.Wherein
The position of six rotor wing unmanned aerial vehicles and gesture stability can be described as follows：Remote controler sends out pitching, roll, yaw angle and throttle life
It enables, six rotor wing unmanned aerial vehicles receive the order of remote controler, can be real when six motors are normal and an electrical fault
Existing automatic fault tolerant control.
In the present embodiment, it when carrying out fault diagnosis, is determined according to the flying quality and priori that monitor
Current flight device state, and output result is sent to gesture commands mapping block and power distribution module.Gesture commands reflect
Module is penetrated according to current flight device state and the control command of winged hand, automatic mapping at gesture stability control attitude angle.Appearance
State control module is determined by calculating the control attitude angle after mapping and deviation between the collected flight attitude angle of sensor
Need the thrust applied and torque.Power distribution module makes the measurement of torque and thrust by solving nonlinear optimal problem
The deviation of value and setting value is minimum, reaches the automatic fault tolerant gesture stability of six rotor wing unmanned aerial vehicles.
The automatic fault tolerant attitude control method of six rotor wing unmanned aerial vehicle provided by the invention, six rotor wing unmanned aerial vehicle it is each
Motor has with respect to the horizontal plane tilts established angle α, inclination established angle β in another direction, including following step along a side
Suddenly：
Step S1：The electric current and/or voltage for acquiring multiple motors on six rotor wing unmanned aerial vehicles, according to the electric current and/or electricity
Pressure judges that each motor whether there is failure；
Step S2：When it is faulty motor to judge a motor, closes another adjacent with the faulty motor and turn
The opposite motor in dynamic direction；
Step S3：The serial number of the paddle i driven according to the faulty motor selects corresponding mapping matrix Ri, and root
According to the mapping matrix RiInput attitude angle is converted into attitude angle in order to control, i is the natural number for being less than or equal to 6 more than or equal to 0；
Step S4：The control attitude angle is inputted into the flight control modules of six rotor wing unmanned aerial vehicle to control described six
Rotor wing unmanned aerial vehicle flies, and then the flight attitude angle of six rotor wing unmanned aerial vehicle is acquired by sensor；
Step S5：According to the deviation between the control attitude angle and the flight attitude angle, calculating need to be to described six
The target propulsive force that rotor wing unmanned aerial vehicle appliesWith target torque τr, and then according to the target propulsive forceWith target torque τrMeter
Calculate the rotating speed of each motor.
In the present embodiment, when the electric current of a motor and/or voltage exist such as under type, judge that the motor has event
Barrier：
The electric current is more than upper current limit threshold value；
The electric current is less than lower current limit threshold value；
The current change rate is more than current change rate threshold value；
The voltage is more than upper voltage limit threshold value；
The voltage is less than lower voltage limit threshold value；
The voltage changing rate is more than voltage changing rate threshold value.
In the present embodiment, the upper current limit threshold value is 10A, and lower current limit threshold value is 0.5A, current change rate threshold
Value is 3A/ms, and upper voltage limit threshold value is 12v, and lower voltage limit threshold value is 11v, voltage changing rate threshold value 2v/ms.
In the present embodiment, fault diagnosis module acquires the electric current and voltage of each motor, when the electric current and electricity of a motor
When extruding existing as above abnormal bounce, judge the motor for faulty motor；The faulty motor is positioned, is closed and the failure immediately
The corresponding cooperation motor of motor, specially i.e. No. 1 motor and No. 2 motors are to corresponding, and No. 3 motors and No. 4 motors are relative to 5
Number motor and No. 6 motors relative to；The serial number of paddle i is driven to select corresponding mapping matrix R according to the faulty motori, lead to
Cross mapping matrix RiMatrix conversion will input attitude angle conversion attitude angle [Φ θ ψ] in order to controlcontrolInput gesture stability module.
Gesture stability module calculates the deviation between the control attitude angle after mapping and sensor output flight attitude angle, and makes partially
Difference is minimum, i.e., the mould of the difference for the flight torque needed for control moment and practical attitude stabilization that gesture stability module calculates adds
The mould for the difference that the control thrust and aircraft altitude of upper gesture stability module input stablize required flight thrust is minimum.And then power
The optimal thrust and torque that optimization module applies according to the target control attitude angle of gesture stability module, finally obtain motor most
Excellent rotating speed.
Establish the kinetic model of six rotor wing unmanned aerial vehicles
In the present embodiment, it the present invention is based on aerodynamics and rotor flying theory of mechanics, establishes with inclination angle
The dynamic model of six rotor wing unmanned aerial vehicles, the dynamic model for gesture stability equalization point, power distribution optimization algorithm and
System controllability and measurability is analyzed.
Step M1：Establish body coordinate system FB, FB={ OB, (xB,yB,zB), wherein OBFor the center of body, zB、xB、yB
The respectively Z axis of six rotor wing unmanned aerial vehicles, X-axis, Y-axis；zBSix rotor wing unmanned aerial vehicles are indicated in equilibrium state, the side perpendicular to ground
To xBIt indicates across the center of the body along the direction that the head of the body extends, yBIt indicates perpendicular to zBAnd xBSide
To；
When motor i is horizontally mounted, initial motor coordinate system is established, the z in the initial motor coordinate systemCFor Z axis, table
Show the axis direction of motor i and the direction perpendicular to ground, xCFor X-axis, indicate across the center of the motor i along the horn
The direction of extension, yCFor Y-axis, indicate perpendicular to zCAnd xCForm the direction of plane.
Step M2：For each motor i, when motor i driving slurries wing i is rotated clockwise, by motor i around xCAxis is inverse
Hour hands rotation alphaiAngle and around yCAxis is counterclockwise rotation βiAngle；When motor i driving slurries wing i is rotated counterclockwise, by the electricity
Machine i is around xCAxis rotates clockwise αiAngle and around yCAxis is counterclockwise rotation βiAngle；In the present embodiment, the rotation counterclockwise
It is located at the outside of six rotor wing unmanned aerial vehicle with the observation position rotated clockwise.
Step M3：For motor i, motor coordinate system after rotation is established Its
In, i indicates that the serial number of motor, i are the natural number for being less than or equal to 6 more than 0,Indicate the center of motor i, For
The Z axis of motor i, X-axis, Y-axis.For Z axis, the axis direction of motor i is indicated,For X-axis, indicate in the motor i
The heart is in β with the direction that the horn extendsiThe direction of angle,For Y-axis, indicate perpendicular toWithDirection.
Step M4：It will be eachAxis and zBAngle between axis is indicated by established angle α, β, due to the i-th paddle
Axis and the axial direction of the rotary shaft of the wing are equidirectional, the z of the i-th paddlepiAxis and body coordinate system zBRotation relationship between axis is,
zpi=Ry(βi)Rx(αi)zB
Wherein, Ry(βi) indicate yBThe spin matrix in direction, Rx(αi) indicate xBThe spin moment in direction indicates as follows respectively：
Work as zBWhen=[0 0 1], it can obtain：
The third element of matrix；
Step S105：I-th paddle will produce along zpiThe thrust f in directioniAnd torque taui,It can be indicated in coordinate system
For,
Wherein, kfi、kτiFor with the relevant constant coefficient of paddle physical characteristic, kfiFor the Relation Parameters of thrust and rotating speed, kτiFor
The Relation Parameters of torque and rotating speed, ωiFor the rotating speed of each paddle ,+indicate the direction of rotation of the paddle be it is clockwise ,-indicate
The direction of rotation of the paddle is counterclockwise.fiFor the numerical value of thrust, fiFor the vector of thrust, τiFor the numerical value of torque, τiFor torque
Vector.
Gross thrust caused by all propellers that can be rotated of six rotor wing unmanned aerial vehiclesWith total torque τcIt is sat on ground
Mark systemUnder can be expressed as
Wherein, piIndicate originIn body coordinate system FBIn position, u=[ω1|ω1|,ω2|ω2|…,ω6|ω6
|], F1U is inputted in order to control to the transition matrix for the thrust for being applied to unmanned plane, F2U is inputted in order to control to turn for being applied to unmanned plane
The transition matrix of square, n are less than or equal to i, and R is earth axes and motor coordinate system after rotationBetween transition matrix, Indicate the reasonable matrix number of 3 × n；
Kinetic model according to newton Euler's formula, six rotor wing unmanned aerial vehicles with inclination angle is as follows,
Wherein, the quality of six rotor wing unmanned aerial vehicles is m, and g is acceleration of gravity, and ω is the attitude angle of six rotor wing unmanned aerial vehicles,
For the angular speed of six rotor wing unmanned aerial vehicles, J is rotary inertia,For acceleration, e3For earth axes Z axis (0,0,1), R is ground
Coordinate system and motor coordinate system after rotationBetween transition matrix.
Six rotor wing unmanned aerial vehicle model controllabilitys analysis with inclination angle
According to the dynamics model analysis of six rotor wing unmanned aerial vehicles it is found that the posture of six rotor wing unmanned aerial vehicles is mainly by attitude angle ω
It indicates, and the posture of six rotor wing unmanned aerial vehicles is that the gross thrust of six rotor wing unmanned aerial vehicles is applied to by paddleWith total torque τcBy turning
Change matrix F2It is adjusted.If the posture of six rotor wing unmanned aerial vehicles is fully controllable, transition matrix F is needed2Full rank.
For six rotor wing unmanned aerial vehicles that paddle is horizontally mounted, in the case where 6 propellers all work normally, transition matrix
F2Full rank；When 1 motor breaks down, transition matrix F2Order be reduced to 2, therefore six rotor wing unmanned aerial vehicles posture it is endless
Complete controllable, which is in-flight also verified in material object, and six rotor wing unmanned aerial vehicles occur suddenly in normal flight operations
When bad paddle, six rotor wing unmanned aerial vehicles, which fly hand, to control six rotor wing unmanned aerial vehicles, final six rotor wing unmanned aerial vehicle by normal operating
Due to posture and position can not normal control and crash.
And for six rotor wing unmanned aerial vehicles with mounted angle, the case where 6 propeller normal works and 1 are damaged
Under, transition matrix F2Equal full rank, theoretically six rotor wing unmanned aerial vehicle postures are fully controllable.But six general rotor wing unmanned aerial vehicles fly control and calculate
Method does not support the control for having mounted angle and bad paddle.Therefore need special control algolithm and framework realize six rotors without
Man-machine faults-tolerant control.
Mapping matrix algorithm
For there are six rotor wing unmanned aerial vehicles of mounted angle, meet following formula when hovering posture,
By F2U=0 is it is found that u belongs to transition matrix F2Nuclear space, it may be determined that the solution of u is reduced into straight line, according to
RF1U=mge3It can determine that u is uniquely solved.
When different paddles damage, different steady state solution u can be obtained1s,u2s,u3s,u4s,u5s,u6s, u1sIt is No. 1
Stable solution when motor-driven paddle damage, u2sStable solution when being damaged for No. 2 motor-driven paddles, u3sFor No. 3 motors
Stable solution when the paddle damage of driving, u4sStable solution when being damaged for No. 4 motor-driven paddles, u5sIt is driven for No. 5 motors
Paddle damage when stable solution, u6sStable solution when being damaged for No. 6 motor-driven paddles.When motor does not have failure
Steady state solution be u0s.When posture of hovering under normal circumstances, the z of body coordinate systemBThe z of axis and earth axeswOverlapping of axles, this
When mapping matrix R0For unit matrix.
When motor is there are when failure, according to the steady state solution of gained before it is found that the z of body coordinate systemBAxis and ground
The z of coordinate systemwAxis is misaligned, there are certain angle, can solve to obtain the corresponding mapping matrix R of different bad paddles1,R2,…R6。
[Φ θ ψ]control=Ri[Φ θ ψ]pilot
It is [Φ θ ψ] to fly hand by the input attitude angle that remote controler providespilot, the roll of Φ six rotor wing unmanned aerial vehicles of expression
Angle, θ indicate that the pitch angle of six rotor wing unmanned aerial vehicles, ψ indicate the yaw angle of six rotor wing unmanned aerial vehicles.Pass through mapping matrix RiBe converted to appearance
The control attitude angle [Φ θ ψ] of state control modulecontrol.When the case where fault diagnosis module detecting different bad paddles, switching
To different mapping matrix R0,R1,R2,…R6。
The parameter measurement of 1 six rotor wing unmanned aerial vehicle of table is as follows
The steady state solution that each pattern can be obtained is as follows：
2 six rotor wing unmanned aerial vehicle posture mapping table of table
5. power optimum allocation algorithm
Gesture stability algorithm is that conventional pid algorithm calculates required turn according to the error of targeted attitude and practical posture
Square τr, one of target of power distribution is to make total torque τcAs possible close to target torque τr.Another algorithm of power distribution is to make
Gross thrustCan balancing gravity, or meet and fly the given thrust setting value demand of hand, i.e. gross thrustAs possible close to mesh
Mark thrust
Power distribution is solved by following optimization aim,
And then can be obtained by merging simplification,
Wherein, c is scalar factor, and u is steady state solution, and the value range of u is u0s, u1s,u2s,u3s,u4s,u5s,u6s.In failure
Diagnostic module detects the case where different faults paddle, switches corresponding configuration parameter, is calculated by the optimization algorithm optimal
Power output, carry out the adjusting of posture.
In the present embodiment, the motor is connected with pedestal with angle, and the pedestal is fixed on six rotor wing unmanned aerial vehicles
On the horizontal frames of motor, established angle α, β are tilted to realize.
Can be several Module implementations citings below there are many realization method based on the content of present invention：
Code is integrated in the flying-controlled box PX4 that increases income
The integrated flow figure of the mapping algorithm of attitude angle is inputted as shown in figure 3, the mapping algorithm of the input attitude angle is integrated
In position control loop, position control loop needs the setting value for receiving the remote controler input for flying hand to be set as corresponding target
Definite value, the position control loop need to judge whether the motor of failure, directly using remote control in the case of no electrical fault
The setting value of device needs dispatch map matrix just to be swashed as position and posture setting value in the case that motor breaks down
It is living, it then finds the corresponding mapping matrix of corresponding faulty motor and calculates new remote controller position and input attitude angle.
The integrated of improved power distribution module can be there are two types of mode, as shown in figure 4, first way is the power point
With needing to judge whether in module that electrical fault occurs, optimization algorithm is distributed using new power in case of a failure,
Otherwise using the power allocation algorithm of the PX4 given tacit consent to originally.The second way is directly to change power allocation algorithm in PX4,
Power allocation algorithm is added breakdown judge and whether activates the logic of corresponding power allocation algorithm in the PX4.Two kinds of embodiment party
Formula can realize power allocation algorithm.
Gazebo is emulated
A, according to the gesture commands mapping block and mapping scheduler being added in first way PX4 for different electrical faults
Corresponding power distribution optimization algorithm is added in module in the power distribution module of PX4.
B, corresponding model parameter is changed in some six rotor wing unmanned aerial vehicle in gazebo models, corresponding motor peace is set
Fill angle.
C, it is emulated by stil, with joystick testing algorithm.
D, data are collected by ground station software and carries out parser tune ginseng.
Matlab is emulated
A, the dynamic model of six rotor wing unmanned aerial vehicles is established in matlab, is included the model of the balance of power and equalising torque, is added
Enter the established angle of motor.
B, the controller of the corresponding unmanned planes of PX4 is established in matlab, includes the positioner of external loop, inner looping
Gesture stability module and mixing device.
C, the gesture commands mapping block and mapping scheduler module for different actuator failures are established in matlab,
Mixing device in corresponding power be added distribute optimization algorithm.
D, influence of the emulation inclination angle to control, analysis result.
Unmanned plane actual implementation scheme
A, the gesture commands mapping block and mapping scheduler module for different electrical faults are added in PX4, PX4's
Corresponding power distribution optimization algorithm is added in mixing device.
B, motor established angle α, β that 3D printing motor printed design comes out
C, practical flight collects data by earth station and carries out algorithm undated parameter.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring the substantive content of the present invention.
Claims (8)
1. each motor of a kind of automatic fault tolerant attitude control method of six rotor wing unmanned aerial vehicles, six rotor wing unmanned aerial vehicle has phase
Established angle α, inclination established angle β in another direction, which is characterized in that include the following steps are tilted along a side for horizontal plane：
Step S1：The electric current and/or voltage for acquiring multiple motors on six rotor wing unmanned aerial vehicles, sentence according to the electric current and/or voltage
Each motor that breaks whether there is failure；
Step S2：When it is faulty motor to judge a motor, another and rotation side adjacent with the faulty motor is closed
To opposite motor；
Step S3：The serial number of the paddle i driven according to the faulty motor selects corresponding mapping matrix Ri, and according to institute
State mapping matrix RiInput attitude angle is converted into attitude angle in order to control, i is the natural number for being less than or equal to 6 more than or equal to 0；
Step S4：The control attitude angle is inputted into the flight control modules of six rotor wing unmanned aerial vehicle to control six rotor
Unmanned plane during flying.
2. the automatic fault tolerant attitude control method of six rotor wing unmanned aerial vehicle according to claim 1, which is characterized in that further include
Following steps：
Step S5：The flight attitude angle of six rotor wing unmanned aerial vehicle is acquired by sensor；
Step S6：According to the deviation between the control attitude angle and the flight attitude angle, calculating need to be to six rotor
The target propulsive force that unmanned plane appliesWith target torque τr, and then according to the target propulsive forceWith target torque τrIt calculates
The rotating speed of each motor.
3. the automatic fault tolerant attitude control method of six rotor wing unmanned aerial vehicle according to claim 1, which is characterized in that when an electricity
When the electric current and/or voltage of machine are existed such as under type, judge that there are failures for the motor：
The electric current is more than upper current limit threshold value；
The electric current is less than lower current limit threshold value；
The current change rate is more than current change rate threshold value；
The voltage is more than upper voltage limit threshold value；
The voltage is less than lower voltage limit threshold value；
The voltage changing rate is more than voltage changing rate threshold value.
4. the automatic fault tolerant attitude control method of six rotor wing unmanned aerial vehicle according to claim 1, which is characterized in that described
Further include following steps before step S1：
Step M1：Establish body coordinate system FB, FB={ OB, (xB,yB,zB), wherein OBFor the center of body, zB、xB、yBRespectively
For the Z axis of six rotor wing unmanned aerial vehicles, X-axis, Y-axis；zBSix rotor wing unmanned aerial vehicles are indicated in equilibrium state, the direction perpendicular to ground, xB
It indicates across the center of the body along the direction that the head of the body extends, yBIt indicates perpendicular to zBAnd xBDirection；
When motor i is horizontally mounted, initial motor coordinate system is established, the z in the initial motor coordinate systemCFor Z axis, electricity is indicated
The axis direction of machine i and direction perpendicular to ground, xCFor X-axis, expression extends across the center of the motor i along the horn
Direction, yCFor Y-axis, indicate perpendicular to zCAnd xCForm the direction of plane；
Step M2：For each motor i, when motor i driving slurries wing i is rotated clockwise, by motor i around xCAxis is counterclockwise
Rotation alphaiAngle and around yCAxis is counterclockwise rotation βiAngle；When motor i driving slurries wing i is rotated counterclockwise, by motor i
Around xCAxis rotates clockwise αiAngle and around yCAxis is counterclockwise rotation βiAngle；In the present embodiment, the rotation counterclockwise and institute
State the outside that the observation position rotated clockwise is located at six rotor wing unmanned aerial vehicle.
Step M3：For motor i, motor coordinate system after rotation is establishedWherein, i
Indicate that the serial number of motor, i are the natural number for being less than or equal to 6 more than 0,Indicate the center of motor i, For motor
The Z axis of i, X-axis, Y-axis；For Z axis, the axis direction of motor i is indicated,For X-axis, indicate across the center of the motor i
It is in β with the direction that the horn extendsiThe direction of angle,For Y-axis, indicate perpendicular toWithDirection；
Step M4：It will be eachAxis and zBAngle between axis is indicated by tilting established angle α, β, due to the z of the i-th paddlepi
Axis and the axial direction of the rotary shaft of the wing are equidirectional, the z of the i-th paddlepiAxis and body coordinate system zBRotation relationship between axis is,
zpi=Ry(βi)Rx(αi)zB
Wherein, Ry(βi) indicate yBThe spin matrix in direction, Rx(αi) indicate xBThe spin moment in direction indicates as follows respectively：
Work as zBWhen=[0 0 1], it can obtain：
The third element of matrix；
Step M5：I-th paddle will produce along zpiThe thrust f in directioniAnd torque taui,It can be expressed as in coordinate system,
Wherein, kfi、kτiFor with the relevant constant coefficient of paddle physical characteristic, kfiFor the Relation Parameters of thrust and rotating speed, kτiFor torque
With the Relation Parameters of rotating speed, ωiFor the rotating speed of each paddle ,+indicate the direction of rotation of the paddle be it is clockwise ,-indicate the paddle
The direction of rotation of the wing is counterclockwise.
Gross thrust caused by all propellers that can be rotated of six rotor wing unmanned aerial vehiclesWith total torque τcIn earth axesUnder can be expressed as
Wherein, piIndicate originIn body coordinate system FBIn position, u=[ω1|ω1|,ω2|ω2|…,ω6|ω6|], F1
U is inputted in order to control to the transition matrix for the thrust for being applied to unmanned plane, F2U is inputted in order to control to the torque for being applied to unmanned plane
Transition matrix, n are the sum for the motor that can be rotated, and n is less than or equal to i, and R is earth axes and motor coordinate system after rotationBetween transition matrix, Indicate the reasonable matrix number of 3 × n；
Kinetic model according to newton Euler's formula, six rotor wing unmanned aerial vehicles with inclination angle is as follows,
Wherein, the quality of six rotor wing unmanned aerial vehicles is m, and g is acceleration of gravity, and ω is the attitude angle of six rotor wing unmanned aerial vehicles,For six rotations
The angular speed of wing unmanned plane, J are rotary inertia,For acceleration, e3For earth axes Z axis (0,0,1).
5. the automatic fault tolerant attitude control method of six rotor wing unmanned aerial vehicle according to claim 1, which is characterized in that the Ri
Including R0、R1、R2、R3、R4、R5And R6；
When there is no electrical fault, using mapping matrix R0,
Six rotor wing unmanned aerial vehicle includes number one motor, No. second motor, third motor, No. four motor, No. five electricity
Machine and No. six motor；
When number one motor, No. second electrical fault, using mapping matrix R1、R2,
When third motor, No. four electrical fault, using mapping matrix R3、R4,
When No. five motor, No. six electrical fault, using mapping matrix R5、R6,
6. the automatic fault tolerant attitude control method of six rotor wing unmanned aerial vehicle according to claim 1, which is characterized in that according to institute
State mapping matrix RiInput attitude angle is converted into attitude angle in order to control, specially：
[Φ θ ψ]control=Ri[Φ θ ψ]pilot
[Φ θ ψ]pilotTo input attitude angle, [Φ θ ψ]controlAttitude angle in order to control, Φ indicate that roll angle, θ indicate pitching
Angle, ψ indicate yaw angle.
7. the automatic fault tolerant attitude control method of six rotor wing unmanned aerial vehicle according to claim 1, which is characterized in that the step
Rapid S5 includes the following steps：
Step S501：Steady state solution is solved, specifically, when six rotor wing unmanned aerial vehicles meet following formula when hovering posture：
By F2U=0 is it is found that steady state solution u belongs to transition matrix F2Nuclear space, can determine that the solution of u is reduced into straight line, root
According to RF1U=mge3It can determine that u is uniquely solved；
Step S502：Make total torque τcAs possible close to target torque τr, gross thrustAs possible close to target propulsive force
Power distribution is solved by following optimization aim,
And then can be obtained by merging simplification,
Wherein, c is scalar factor.
8. the automatic fault tolerant attitude control method of six rotor wing unmanned aerial vehicle according to claim 1, which is characterized in that the electricity
Machine is connected with pedestal with angle, and the pedestal is fixed on the horizontal frames of six rotor wing unmanned aerial vehicle motors.
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