CN109308064A - A kind of the failure tolerant control method and system of quadrotor drone - Google Patents
A kind of the failure tolerant control method and system of quadrotor drone Download PDFInfo
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- CN109308064A CN109308064A CN201710632167.3A CN201710632167A CN109308064A CN 109308064 A CN109308064 A CN 109308064A CN 201710632167 A CN201710632167 A CN 201710632167A CN 109308064 A CN109308064 A CN 109308064A
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- 238000001514 detection method Methods 0.000 claims description 3
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- 230000007246 mechanism Effects 0.000 description 3
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
- G05B23/0243—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults model based detection method, e.g. first-principles knowledge model
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The invention discloses a kind of failure tolerant control methods of quadrotor drone, comprising: when the part motor of unmanned plane breaks down, obtains the fault message of faulty motor；It is optimized according to control distribution information of the fault message to four motors, instructs the virtual controlling of four motors in a linear relationship with unmanned plane posture to be achieved and height；The virtual controlling instruction is the control instruction that system for flight control computer is calculated according to user's operation；The virtual controlling instruction of four motors is allocated according to the control distribution information after optimization, obtains the practical control instruction of four motors；The posture and height that the unmanned plane reaches required are controlled according to the practical control instruction.The invention also discloses a kind of failure tolerant control systems of quadrotor drone.The present invention guarantees the controllability of UAV Attitude and height, keeps the stability of UAV Attitude, avoid the generation of accident when part failure of removal occurs for the motor of quadrotor drone.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a fault tolerance control method and system for a quad-rotor unmanned aerial vehicle.
Background
Quad-rotor unmanned aerial vehicles are widely used due to the characteristics of easy control, small size, flexible action and the like. However, as it is used, many problems are revealed, since the motor and the propeller are operated in a high-speed rotation state in a flight state, and failure is liable to occur due to a problem such as deterioration of an electric coil of the actuator. Four rotors are in case above-mentioned trouble takes place, if do not have fault-tolerant ability to the trouble, then can lead to the stability of aircraft to descend, lead to unmanned aerial vehicle out of control even, threaten personal safety.
Disclosure of Invention
The invention provides a fault-tolerant control method and system of a quad-rotor unmanned aerial vehicle, aiming at the problems in the prior art, and the fault-tolerant control method and system can ensure the controllability of the posture and the height of the quad-rotor unmanned aerial vehicle, keep the stability of the posture of the quad-rotor unmanned aerial vehicle and avoid the occurrence of accidents when the motor of the quad-rotor unmanned aerial vehicle has partial failure faults.
The technical scheme provided by the invention for the technical problem is as follows:
in one aspect, the invention provides a fault tolerance control method for a quad-rotor unmanned aerial vehicle, which comprises the following steps:
when part of motors of the unmanned aerial vehicle have faults, fault information of the fault motors is acquired;
optimizing control distribution information of the four motors according to the fault information, so that virtual control instructions of the four motors are in a linear relation with the attitude and the height of the unmanned aerial vehicle; the virtual control instruction is a control instruction which is calculated by the unmanned aerial vehicle flight control system according to user operation;
distributing the virtual control instructions of the four motors according to the optimized control distribution information to obtain actual control instructions of the four motors;
and controlling the unmanned aerial vehicle to reach the required attitude and height according to the actual control instruction.
Further, when unmanned aerial vehicle's partial motor broke down, acquire trouble motor's fault information, specifically include:
detecting four motors of the unmanned aerial vehicle in real time;
when part of motors of the unmanned aerial vehicle have faults, calculating the ratio of the output of the fault motor to the output of the fault-free motor, wherein the ratio is fault information of the fault motor;
and constructing a fault information matrix according to the fault information of the fault motor.
Further, the control distribution information of the four motors is optimized according to the fault information, so that the virtual control instructions of the four motors and the attitude and height to be reached by the unmanned aerial vehicle are in a linear relationship, and the method specifically comprises the following steps:
according to an optimization formula, enabling the virtual control instructions of the four motors to be in a linear relation with the attitude and the height which are required to be reached by the unmanned aerial vehicle, and calculating an optimized control distribution matrix according to a control distribution matrix in normal and the fault information matrix, wherein the optimized control distribution matrix is optimized control distribution information;
the relational formula is as follows:
wherein,is a virtual control command for four motors,and M is a control distribution matrix in normal time, H is a fault information matrix, and N is an optimized control distribution matrix for the height and the attitude to be reached by the unmanned aerial vehicle.
Further, the allocating the virtual control instructions of the four motors according to the optimized control allocation information to obtain the actual control instructions of the four motors specifically includes:
distributing the optimized control distribution information to the virtual control instructions of the four motors by adopting a distribution formula to obtain actual control instructions of the four motors;
the distribution formula is as follows:
wherein,the actual control commands of the four distributed motors are obtained.
Further, according to the actual control instruction control unmanned aerial vehicle reaches required gesture and height, specifically include:
adjusting the rotating speeds of the four motors according to the actual control instruction, so that the four motors drive the unmanned aerial vehicle to reach the required posture and height; the attitude includes pitch, roll and yaw.
In another aspect, the present invention provides a fault tolerant control system for a quad-rotor drone, comprising:
the information acquisition module is used for acquiring fault information of a fault motor when part of motors of the unmanned aerial vehicle are in fault;
the optimization module is used for optimizing the control distribution information of the four motors according to the fault information so that the virtual control instructions of the four motors and the postures and heights to be reached by the unmanned aerial vehicle form a linear relation; the virtual control instruction is a control instruction which is calculated by the unmanned aerial vehicle flight control system according to user operation;
the distribution module is used for distributing the virtual control instructions of the four motors according to the optimized control distribution information to obtain actual control instructions of the four motors; and the number of the first and second groups,
and the control module is used for controlling the unmanned aerial vehicle to reach the required attitude and height according to the actual control instruction.
Further, the information obtaining module specifically includes:
the detection unit is used for detecting four motors of the unmanned aerial vehicle in real time;
the information acquisition unit is used for calculating the ratio of the output of a fault motor to the output of an unmanned aerial vehicle without faults when part of motors of the unmanned aerial vehicle have faults, and the ratio is fault information of the fault motor; and the number of the first and second groups,
and the construction unit is used for constructing a fault information matrix according to the fault information of the fault motor.
Further, the optimization module is specifically configured to:
according to an optimization formula, enabling the virtual control instructions of the four motors to be in a linear relation with the attitude and the height which are required to be reached by the unmanned aerial vehicle, and calculating an optimized control distribution matrix according to a control distribution matrix in normal and the fault information matrix, wherein the optimized control distribution matrix is optimized control distribution information;
the relational formula is as follows:
wherein,is a virtual control command for four motors,and M is a control distribution matrix in normal time, H is a fault information matrix, and N is an optimized control distribution matrix for the height and the attitude to be reached by the unmanned aerial vehicle.
Further, the allocation module is specifically configured to:
distributing the optimized control distribution information to the virtual control instructions of the four motors by adopting a distribution formula to obtain actual control instructions of the four motors;
the distribution formula is as follows:
wherein,the actual control commands of the four distributed motors are obtained.
Further, the control module is specifically configured to:
adjusting the rotating speeds of the four motors according to the actual control instruction, so that the four motors drive the unmanned aerial vehicle to reach the required posture and height; the attitude includes pitch, roll and yaw.
The technical scheme provided by the embodiment of the invention has the following beneficial effects:
when unmanned aerial vehicle's partial motor broke down, optimize the control distribution information of four motors according to fault information, the gesture and the height that make four motor virtual control instruction and unmanned aerial vehicle reach are linear relation, thereby make unmanned aerial vehicle reach its gesture and height that will reach according to the control distribution information after optimizing, with overcome the influence of trouble to unmanned aerial vehicle rapidly, guarantee the controllability of gesture and height, keep the stability of unmanned aerial vehicle gesture, the emergence of accident has been avoided.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic flow chart of a fault tolerance control method for a quad-rotor unmanned aerial vehicle according to an embodiment of the present invention;
FIG. 2A is a graph illustrating the response of roll angle without optimization of control allocation for a first type of fault in accordance with one embodiment of the present invention;
FIG. 2B is a graph of a response curve of the pitch angle of the system without optimization of control allocation in the first case of a failure according to an embodiment of the present invention;
FIG. 2C is a graphical representation of a response of the system to yaw without optimization of the control allocation in the event of a first type of fault in accordance with an embodiment of the present invention;
FIG. 2D is a graph of the response of the system to an altitude for which control allocation optimization has not been performed in the first failure in accordance with one embodiment of the present invention;
FIG. 2E is a graph illustrating the response of a control command to the system without optimization of control allocation in the event of a first type of fault in accordance with an embodiment of the present invention;
FIG. 2F is a graph of the response of the motor speed without optimization of control allocation for the system in the first failure mode according to the first embodiment of the present invention;
FIG. 3A is a graph illustrating the response of the roll angle of the system to control allocation optimization in the presence of a first fault in accordance with one embodiment of the present invention;
FIG. 3B is a graph of a response curve of the pitch angle optimized by the system for control allocation in the event of a first type of fault in accordance with one embodiment of the present invention;
FIG. 3C is a graphical illustration of a response of the system to control allocation optimization yaw angle in the event of a first type of fault in accordance with an embodiment of the present invention;
FIG. 3D is a graph of the response of the system to optimize control distribution for a first type of fault in accordance with one embodiment of the present invention;
FIG. 3E is a graph illustrating the response of the control command to optimize control distribution when a first type of fault occurs in the system according to one embodiment of the present invention;
FIG. 3F is a graph of the response of the motor speed for optimizing control distribution by the system in the event of a first fault according to an embodiment of the present invention;
FIG. 4A is a graph illustrating the response of roll angle without optimization of control allocation for a system in the presence of a second fault in accordance with one embodiment of the present invention;
FIG. 4B is a graph of a response curve for pitch angle without optimization of control allocation for the system in the event of a second type of fault in accordance with one embodiment of the present invention;
FIG. 4C is a graphical illustration of a response of the system to yaw without optimization of the control allocation in the event of a second fault in accordance with one embodiment of the present invention;
FIG. 4D is a graph of the response of the system to an altitude for which control allocation optimization has not been performed in the event of a second fault in accordance with one embodiment of the present invention;
FIG. 4E is a graph illustrating the response of a control command to the system without optimization of control allocation in the event of a second fault in accordance with one embodiment of the present invention;
FIG. 4F is a graph of the response of the motor speed without optimization of control allocation for the system in the event of a second fault in accordance with one embodiment of the present invention;
FIG. 5A is a graph illustrating the response of the roll angle of the system to control allocation optimization in the presence of a second fault in accordance with one embodiment of the present invention;
FIG. 5B is a graph of a response curve of the pitch angle optimized by the system for control allocation in the event of a second fault in accordance with one embodiment of the present invention;
FIG. 5C is a graphical illustration of a response of the system to control allocation optimization yaw angle in the event of a second fault in accordance with one embodiment of the present invention;
FIG. 5D is a graph of the response of the system to optimize control distribution for a second type of fault in accordance with one embodiment of the present invention;
FIG. 5E is a graph illustrating a response of the control command to optimize control distribution when a second fault occurs in accordance with one embodiment of the present invention;
FIG. 5F is a graph of the response of the motor speed for optimizing control distribution by the system in the event of a second fault in accordance with one embodiment of the present invention;
fig. 6 is a schematic structural diagram of a fault-tolerant control system of a quad-rotor unmanned aerial vehicle according to a second embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
Example one
The embodiment of the invention provides a fault tolerance control method for a quad-rotor unmanned aerial vehicle, which comprises the following steps of:
s1, when part of motors of the unmanned aerial vehicle have faults, obtaining fault information of the fault motors;
s2, optimizing control distribution information of the four motors according to the fault information, and enabling virtual control instructions of the four motors to be in a linear relation with the postures and heights to be achieved by the unmanned aerial vehicle; the virtual control instruction is a control instruction which is calculated by the unmanned aerial vehicle flight control system according to user operation;
s3, distributing the virtual control instructions of the four motors according to the optimized control distribution information to obtain actual control instructions of the four motors;
and S4, controlling the unmanned aerial vehicle to reach the required attitude and height according to the actual control instruction.
It should be noted that, the flight principle of the quad-rotor unmanned aerial vehicle is to change the attitude of the aircraft by changing the rotating speeds of the four motors. The rotation speed of the motor is changed by changing the duty ratio of the PWM signal, the raising force and the torque generated by the motor are changed after the rotation speed of the motor is changed, and simultaneously, the torque in the roll direction, the torque in the pitch direction and the counter torque in the yaw direction are determined according to the position distribution of the motor of the four rotors. The change of the Roll direction and the pitch direction generates the linear speed of the X-axis direction and the Y-axis direction of the airplane, the change of the yaw angle is the change of the heading direction of the airplane, and the change of the lift generates the change of the Z-axis direction of the airplane, namely the change of the height.
Wherein, the body coordinate system is defined as: the origin is taken at the mass center of the unmanned aerial vehicle, and a coordinate system is fixedly connected with the body; the X axis is parallel to the longitudinal axis designed by the machine body, is positioned in the symmetrical plane of the unmanned aerial vehicle and points to the front; the Y axis is vertical to the symmetry plane of the unmanned aerial vehicle and points to the right; the Z axis is in the unmanned aerial vehicle symmetry plane, and perpendicular to X axis point down. The entire coordinate system conforms to the euler coordinate system right hand rule. The ground coordinate system, i.e. the inertial coordinate system, is defined as: using the North-east-Earth coordinate system, the XE axis points to the North, the YE axis points to the east, and the ZE axis points to the Earth's center. The ground coordinate system is a coordinate system in the environment of the simulation experiment.
And the unmanned aerial vehicle distributes the virtual control instruction generated by the user operation into the actual control instruction of each motor through the control distribution information. Under the condition that four motors are normal, the control distribution information is a fixed value and is not changed. However, when some motors of the unmanned aerial vehicle are out of order, the motors cannot correctly respond to the actual distributed control instructions, that is, the motors cannot adjust the same control instructions to the corresponding rotating speeds, and cannot meet the control requirements, so that the control distribution information needs to be optimally redistributed.
When part of motors of the unmanned aerial vehicle have faults, fault information of the fault motors is acquired firstly, a virtual control instruction generated by user operation is calculated through a flight control system, and the height and the posture of the unmanned aerial vehicle are obtained through an execution mechanism. In order for the drone to reach its intended height and attitude, the resolved virtual control commands and the drone's height and attitude must be in a linear relationship. Therefore, the control distribution information is adjusted according to the fault information, the calculated virtual control instruction and the height and the attitude of the unmanned aerial vehicle meet the linear relation, and the optimized control distribution information is obtained. The virtual control instruction generated by user operation is distributed into the actual control instruction of each motor through the optimized control distribution information, so that each motor drives the unmanned aerial vehicle to reach the height and the posture to be reached according to the actual control instruction, the controllability of the posture and the height of the unmanned aerial vehicle is ensured, the stability of the posture of the unmanned aerial vehicle is maintained, and accidents are avoided.
Further, when unmanned aerial vehicle's partial motor broke down, acquire trouble motor's fault information, specifically include:
detecting four motors of the unmanned aerial vehicle in real time;
when part of motors of the unmanned aerial vehicle have faults, calculating the ratio of the output of the fault motor to the output of the fault-free motor, wherein the ratio is fault information of the fault motor;
and constructing a fault information matrix according to the fault information of the fault motor.
It should be noted that, when some motors of the unmanned aerial vehicle are out of order, the output values of the four motors, that is, the efficiencies of the motors, are obtained. The efficiency of the motor that has not failed, i.e., the normal motor, is set to 1. The efficiency of the failed motor is degraded, so that the efficiency of the failed motor is a quantized value of the output of the failed motor with respect to the normal output, that is, failure information of the failed motor. The efficiencies of the four motors are respectively expressed as h1、h2、h3、h4So as to construct a fault information matrix H ═ diag [ H ═ H1,h2,h3,h4]。
Further, the control distribution information of the four motors is optimized according to the fault information, so that the virtual control instructions of the four motors and the attitude and height to be reached by the unmanned aerial vehicle are in a linear relationship, and the method specifically comprises the following steps:
according to an optimization formula, enabling the virtual control instructions of the four motors to be in a linear relation with the attitude and the height which are required to be reached by the unmanned aerial vehicle, and calculating an optimized control distribution matrix according to a control distribution matrix in normal and the fault information matrix, wherein the optimized control distribution matrix is optimized control distribution information;
the relational formula is as follows:
wherein,is a virtual control command for four motors,and M is a control distribution matrix in normal time, H is a fault information matrix, and N is an optimized control distribution matrix for the height and the attitude to be reached by the unmanned aerial vehicle.
It should be noted that, due to the rotation of the motor, the lift generated by the blade is proportional to the square of the rotation speed w of the motor, and the total lift is:
the resultant moment in the roll direction is:
the resultant moment in the Pitch direction is:
the resultant moment in the Yaw direction is:
through the analysis, the lifting force and the moment are in direct proportion to the square of the rotating speed, and the lifting force and the moment are obtained by sorting:
wherein, KTwIs the coefficient of blade tension, KQwIs the blade torque coefficient, r1、r2、r3、r4Respectively, the projection of the distances from the centers of the four rotors to the X axis on the XY plane,/1、l2、l3、l4Respectively, the projection of the distances from the centers of the four rotors to the y axis on the xy plane, w1、w2、w3、w4The rotational speeds of the four motors respectively.
Order matrixThen there are:
u-a Ω, i.e., Ω -a-1U。
And the control command is in linear relation with the poplar force and the torque, then M is equal to A-1. Because matrix A is that unmanned aerial vehicle geometry is definite, can not change again, consequently when the motor all is in normal condition, M is the definite value.
In the event of failure of a part of the motor, isIn order to makeAndin a linear relationship, thenA diagonal matrix is necessary. WhileFor a known value, an optimized control distribution matrix N, i.e., optimized control distribution information, may be calculated.
Further, the allocating the virtual control instructions of the four motors according to the optimized control allocation information to obtain the actual control instructions of the four motors specifically includes:
distributing the optimized control distribution information to the virtual control instructions of the four motors by adopting a distribution formula to obtain actual control instructions of the four motors;
the distribution formula is as follows:
wherein,the actual control commands of the four distributed motors are obtained.
Further, according to the actual control instruction control unmanned aerial vehicle reaches required gesture and height, specifically include:
adjusting the rotating speeds of the four motors according to the actual control instruction, so that the four motors drive the unmanned aerial vehicle to reach the required posture and height; the attitude includes pitch, roll and yaw.
It should be noted that, the unmanned aerial vehicle distributes virtual control instructions to the actuating mechanism according to the user operation, and the rotating speed of the motor in the actuating mechanism changes, which causes the change of the lifting force and the moment, so that the height and the posture of the unmanned aerial vehicle change, and the height and the posture to be reached by the unmanned aerial vehicle are reached.
The method of the embodiment of the invention is utilized to carry out simulation experiments.
The Roll channel gives a step signal with the amplitude of 0.2 radian at 1s, and the set values of other channels are all 0.
(1) The failure information matrix H is diag [0.9,1,1,1], and the failure occurrence time coincides with the time given to the step signal.
FIG. 2 is a response curve for a system without control allocation optimization: FIG. 2A is a response curve for roll angle; FIG. 2B is a response curve for pitch angle; FIG. 2C is a response curve for yaw; FIG. 2D is a response curve for altitude; FIG. 2E is a response curve of a control command; fig. 2F is a response curve of the motor speed.
FIG. 3 is a response curve of the system after control allocation optimization: FIG. 3A is a response curve for roll angle; FIG. 3B is a response curve for pitch angle; FIG. 3C is a response curve for yaw; FIG. 3D is a response curve for altitude; FIG. 3E is a response curve of a control command; fig. 3F is a response curve of the motor speed.
It can be seen from fig. 2 that when the motor 1 fails, the original system is controllable, but the attitude angles have static differences, and cannot meet the control requirement. It can be seen from fig. 3 that the drone is now fully controllable.
(2) The failure information matrix H is diag [0.8,1,1,1], and the failure occurrence time coincides with the time given to the step signal.
FIG. 4 is a response curve for a system without control allocation optimization: FIG. 4A is a response curve for roll angle; FIG. 4B is a response curve for pitch angle; FIG. 4C is a response curve for yaw; FIG. 4D is a response curve for altitude; FIG. 4E is a response curve of a control command; fig. 4F is a response curve of the motor speed.
FIG. 5 is a response curve of the system after control allocation optimization: FIG. 5A is a response curve for roll angle; FIG. 5B is a response curve for pitch angle; FIG. 5C is a response curve for yaw angle; FIG. 5D is a response curve for altitude; FIG. 5E is a response curve of a control command; fig. 5F is a response curve of the motor speed.
It can be seen from fig. 4 that when the motor 1 fails, the original system is completely uncontrollable, the control command and the motor speed both exceed the limit values, and the system diverges. It can be seen from fig. 5 that after the control distribution matrix is optimized, only the control instruction corresponding to the motor 1 is added when a fault occurs, so that the motor 1 can reach the same rotating speed as the motor 3 after the fault occurs, and the airplane is completely controllable.
According to the embodiment of the invention, when part of motors of the unmanned aerial vehicle have faults, the control distribution information of the four motors is optimized according to the fault information, so that the virtual control instructions of the four motors and the postures and heights to be reached by the unmanned aerial vehicle are in a linear relation, and the unmanned aerial vehicle can reach the postures and heights to be reached according to the optimized control distribution information, thereby rapidly overcoming the influence of the faults on the unmanned aerial vehicle, ensuring the controllability of the postures and the heights, keeping the stability of the postures of the unmanned aerial vehicle and avoiding the occurrence of accidents.
Example two
The embodiment of the invention provides a fault-tolerant control system of a quad-rotor unmanned aerial vehicle, which can realize all the processes of the fault-tolerant control method of the quad-rotor unmanned aerial vehicle, and referring to fig. 6, the fault-tolerant control system of the quad-rotor unmanned aerial vehicle comprises:
the information acquisition module 1 is used for acquiring fault information of a fault motor when part of motors of the unmanned aerial vehicle are in fault;
the optimization module 2 is used for optimizing the control distribution information of the four motors according to the fault information, so that the virtual control instructions of the four motors and the postures and heights to be reached by the unmanned aerial vehicle form a linear relation; the virtual control instruction is a control instruction which is calculated by the unmanned aerial vehicle flight control system according to user operation;
the distribution module 3 is used for distributing the virtual control instructions of the four motors according to the optimized control distribution information to obtain actual control instructions of the four motors; and the number of the first and second groups,
and the control module 4 is used for controlling the unmanned aerial vehicle to reach the required attitude and height according to the actual control instruction.
Further, the information obtaining module specifically includes:
the detection unit is used for detecting four motors of the unmanned aerial vehicle in real time;
the information acquisition unit is used for calculating the ratio of the output of a fault motor to the output of an unmanned aerial vehicle without faults when part of motors of the unmanned aerial vehicle have faults, and the ratio is fault information of the fault motor; and the number of the first and second groups,
and the construction unit is used for constructing a fault information matrix according to the fault information of the fault motor.
Further, the optimization module is specifically configured to:
according to an optimization formula, enabling the virtual control instructions of the four motors to be in a linear relation with the attitude and the height which are required to be reached by the unmanned aerial vehicle, and calculating an optimized control distribution matrix according to a control distribution matrix in normal and the fault information matrix, wherein the optimized control distribution matrix is optimized control distribution information;
the relational formula is as follows:
wherein,is a virtual control command for four motors,and M is a control distribution matrix in normal time, H is a fault information matrix, and N is an optimized control distribution matrix for the height and the attitude to be reached by the unmanned aerial vehicle.
Further, the allocation module is specifically configured to:
distributing the optimized control distribution information to the virtual control instructions of the four motors by adopting a distribution formula to obtain actual control instructions of the four motors;
the distribution formula is as follows:
wherein,the actual control commands of the four distributed motors are obtained.
Further, the control module is specifically configured to:
adjusting the rotating speeds of the four motors according to the actual control instruction, so that the four motors drive the unmanned aerial vehicle to reach the required posture and height; the attitude includes pitch, roll and yaw.
According to the embodiment of the invention, when part of motors of the unmanned aerial vehicle have faults, the control distribution information of the four motors is optimized according to the fault information, so that the virtual control instructions of the four motors and the postures and heights to be reached by the unmanned aerial vehicle are in a linear relation, and the unmanned aerial vehicle can reach the postures and heights to be reached according to the optimized control distribution information, thereby quickly overcoming the influence of the faults on the unmanned aerial vehicle, ensuring the controllability of the postures and the heights, keeping the stability of the postures of the unmanned aerial vehicle and avoiding the occurrence of accidents.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A fault tolerance control method for a quad-rotor unmanned aerial vehicle is characterized by comprising the following steps:
when part of motors of the unmanned aerial vehicle have faults, fault information of the fault motors is acquired;
optimizing control distribution information of the four motors according to the fault information, so that virtual control instructions of the four motors are in a linear relation with the attitude and the height of the unmanned aerial vehicle; the virtual control instruction is a control instruction which is calculated by the unmanned aerial vehicle flight control system according to user operation;
distributing the virtual control instructions of the four motors according to the optimized control distribution information to obtain actual control instructions of the four motors;
and controlling the unmanned aerial vehicle to reach the required attitude and height according to the actual control instruction.
2. The fault-tolerant control method for the quad-rotor unmanned aerial vehicle according to claim 1, wherein when part of motors of the unmanned aerial vehicle are in fault, acquiring fault information of the fault motors specifically comprises:
detecting four motors of the unmanned aerial vehicle in real time;
when part of motors of the unmanned aerial vehicle have faults, calculating the ratio of the output of the fault motor to the output of the fault-free motor, wherein the ratio is fault information of the fault motor;
and constructing a fault information matrix according to the fault information of the fault motor.
3. The method according to claim 2, wherein the optimizing the control distribution information of the four motors according to the fault information to make the virtual control commands of the four motors in a linear relationship with the attitude and height of the drone includes:
according to an optimization formula, enabling the virtual control instructions of the four motors to be in a linear relation with the attitude and the height which are required to be reached by the unmanned aerial vehicle, and calculating an optimized control distribution matrix according to a control distribution matrix in normal and the fault information matrix, wherein the optimized control distribution matrix is optimized control distribution information;
the relational formula is as follows:
wherein,is a virtual control command for four motors,and M is a control distribution matrix in normal time, H is a fault information matrix, and N is an optimized control distribution matrix for the height and the attitude to be reached by the unmanned aerial vehicle.
4. The fault-tolerant control method for a quad-rotor unmanned aerial vehicle according to claim 3, wherein the distributing the virtual control commands of the four motors according to the optimized control distribution information to obtain the actual control commands of the four motors comprises:
distributing the optimized control distribution information to the virtual control instructions of the four motors by adopting a distribution formula to obtain actual control instructions of the four motors;
the distribution formula is as follows:
wherein,the actual control commands of the four distributed motors are obtained.
5. The fault-tolerant control method for a quad-rotor drone according to claim 1, wherein said controlling said drone to a desired attitude and altitude according to said actual control commands comprises:
adjusting the rotating speeds of the four motors according to the actual control instruction, so that the four motors drive the unmanned aerial vehicle to reach the required posture and height; the attitude includes pitch, roll and yaw.
6. A fault tolerant control system of four rotor unmanned aerial vehicle, its characterized in that includes:
the information acquisition module is used for acquiring fault information of a fault motor when part of motors of the unmanned aerial vehicle are in fault;
the optimization module is used for optimizing the control distribution information of the four motors according to the fault information so that the virtual control instructions of the four motors and the postures and heights to be reached by the unmanned aerial vehicle form a linear relation; the virtual control instruction is a control instruction which is calculated by the unmanned aerial vehicle flight control system according to user operation;
the distribution module is used for distributing the virtual control instructions of the four motors according to the optimized control distribution information to obtain actual control instructions of the four motors; and the number of the first and second groups,
and the control module is used for controlling the unmanned aerial vehicle to reach the required attitude and height according to the actual control instruction.
7. The fault-tolerant control system of a quad-rotor drone according to claim 6, wherein the information acquisition module specifically comprises:
the detection unit is used for detecting four motors of the unmanned aerial vehicle in real time;
the information acquisition unit is used for calculating the ratio of the output of a fault motor to the output of an unmanned aerial vehicle without faults when part of motors of the unmanned aerial vehicle have faults, and the ratio is fault information of the fault motor; and the number of the first and second groups,
and the construction unit is used for constructing a fault information matrix according to the fault information of the fault motor.
8. The fault-tolerant control system of a quad-rotor drone according to claim 7, wherein the optimization module is specifically configured to:
according to an optimization formula, enabling the virtual control instructions of the four motors to be in a linear relation with the attitude and the height which are required to be reached by the unmanned aerial vehicle, and calculating an optimized control distribution matrix according to a control distribution matrix in normal and the fault information matrix, wherein the optimized control distribution matrix is optimized control distribution information;
the relational formula is as follows:
wherein,is a virtual control command for four motors,and M is a control distribution matrix in normal time, H is a fault information matrix, and N is an optimized control distribution matrix for the height and the attitude to be reached by the unmanned aerial vehicle.
9. The fault-tolerant control system for quad-rotor drones according to claim 7, wherein the distribution module is specifically configured to:
distributing the optimized control distribution information to the virtual control instructions of the four motors by adopting a distribution formula to obtain actual control instructions of the four motors;
the distribution formula is as follows:
wherein,the actual control commands of the four distributed motors are obtained.
10. The fault-tolerant control system of a quad-rotor drone according to claim 6, wherein the control module is specifically configured to:
adjusting the rotating speeds of the four motors according to the actual control instruction, so that the four motors drive the unmanned aerial vehicle to reach the required posture and height; the attitude includes pitch, roll and yaw.
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