CN109765918A - A kind of unmanned helicopter robust adaptive compensating control method - Google Patents
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Abstract
The invention discloses a kind of unmanned helicopter robust adaptive compensating control methods.External disturbance and actuator failures are considered simultaneously, construct unmanned helicopter 6DOF nonlinear system model；System position ring and posture ring Robust Fault-tolerant Controller are established respectively: nom inalcontroller being designed to the dynamical equation of only consideration external disturbance first, and influence of the external disturbance to system is inhibited using adaptive approach；Then on the basis of the nom inalcontroller of design, consider actuator failures, compensation term is added to weaken influence of the actuator failures to system.The control program that the present invention designs can solve while considering the unmanned helicopter robust Fault-Tolerant tracking control problem of external disturbance and actuator failures.
Description
Technical field
The invention belongs to aircraft robust Fault-Tolerant technical field, in particular to a kind of unmanned helicopter robust adaptive is mended
Repay control method.
Background technique
Pilotless helicopter refer to flown by radio ground remote control or autonomous control flight can VTOL do not carry
People's aircraft belongs to rotor craft in structural form, functionally belongs to vertically taking off and landing flyer.In recent ten years, with
Composite material, dynamical system, sensor, especially flight control etc. technologies progress, unmanned helicopter has obtained fast
The development of speed, is increasingly becoming focus concerned by people.
Unmanned helicopter has unique flying quality and use value.Compared with manned helicopter, unmanned helicopter by
In no one was injured, small in size, low cost, strong battlefield viability the features such as, there is incomparable superiority in many aspects.
Compared with fixed-wing unmanned plane, unmanned helicopter can VTOL, hovering, towards any direction fly, takeoff and anding field
Ground is small, it is not necessary to be equipped with complicated, large volume the launch recycling system as fixed-wing unmanned plane.At military aspect, nobody is gone straight up to
Machine can execute various non-lethal tasks and execute various soft or hard lethal tasks, including scouting, monitoring, target acquisition,
Bait, attack, communication relay etc..At civilian aspect, unmanned helicopter is in atmospheric monitoring, traffic monitoring, resource exploration, power line
Road detection, forest fire protection etc. are with a wide range of applications.
The field that the development of unmanned helicopter is related to is very extensive, including inertial navigation, signal fused, wireless telecommunications, from
A series of high-quality precision and sophisticated technologies such as dynamic control, mathematical modeling, image procossing, vision guided navigation.Wherein, due to the unique function of unmanned plane
The indexs such as the supermaneuver flight for approaching the limit, over the horizon fistfight, thus the most important boat in fighter plane are not pursued in positioning
Empty engine technology and Design of Aerodynamic Configuration are edge factor instead, as long as being according to the appropriate type selecting of unmanned helicopter mission requirements
It can.And unmanned technology, i.e. autonomous flight control are only the technological core of unmanned helicopter.Currently, research unmanned helicopter
Flight control, to solve its two FAQs that must can avoid encountering in flight course:
1) unmanned helicopter anti-interference problem.Unmanned helicopter open loop dynamic is a quiet unstable system, simply
It says, if each control plane keeps trim angle constant, does not ensure that helicopter maintains to stablize, it is necessary to adjust each control incessantly
Face is just able to maintain stabilization, this has significant difference with fixed-wing unmanned plane.In addition, unmanned helicopter can not be kept away in flight course
Exempt from that the interference such as air-flow, fitful wind, engine luggine can be encountered, in addition the uncertainty of air environment, these factors can all influence directly
The machine of liter stablizes manipulation.Therefore, the robustness for improving system is just particularly important.
2) the faults-tolerant control problem of unmanned helicopter.Unmanned helicopter can not only be encountered in flight course external wind disturb,
Engine luggine etc. disturbance, and due to the mankind can not intervention and environment uncertainty, failure occur probability compared with
Fixed Wing AirVehicle significantly increases, if failure effectively cannot be detected or be handled within the limited control period, nobody is straight
The machine of liter will be out of hand because of its quiet unstable feature, leads to heavy losses.Therefore, for improve unmanned helicopter system can
By property, maintainability, urgent task is just become to its research for carrying out faults-tolerant control, is of great significance.
Based on this, while the unmanned helicopter control problem of external disturbance and actuator failures is considered, to the system of raising
Security reliability is most important.
Summary of the invention
In order to solve the technical issues of above-mentioned background technique proposes, the invention proposes a kind of unmanned helicopter robust is adaptive
Answer compensating control method.
In order to achieve the above technical purposes, the technical solution of the present invention is as follows:
A kind of unmanned helicopter robust adaptive compensating control method, comprising the following steps:
(1) external disturbance and actuator failures are considered simultaneously, construct unmanned helicopter 6DOF nonlinear system model；
(2) system position ring Robust Fault-tolerant Controller is established: first to the position ring dynamical equation for only considering external disturbance
Nom inalcontroller is designed, and influence of the external disturbance to system is inhibited using adaptive approach；Then in the nominal control of design
On the basis of device, actuator failures are considered, compensation term is added to weaken influence of the actuator failures to system；
(3) posture ring Robust Fault-tolerant Controller is established: first to the posture ring dynamical equation for only considering external disturbance
Nom inalcontroller is designed, and influence of the external disturbance to system is inhibited using adaptive approach；Then in the nominal control of design
On the basis of device, actuator failures are considered, compensation term is added to weaken influence of the actuator failures to system.
Further, in step (1), unmanned helicopter 6DOF nonlinear system model is as follows:
In above formula, α=[x, y, z]TWith β=[u, v, w]TBe helicopter under inertial coodinate system position vector and speed to
Amount, γ=[φ, θ, ψ]TIt is attitude angle vector, χ=[p, q, r]TIt is attitude angular rate vector under body coordinate system, wherein x, y, z
Component of the position of helicopter in three-dimensional space all directions, u, v are respectively indicated, w respectively indicates the speed of helicopter three
Component in dimension space all directions, φ, θ, ψ respectively indicate helicopter roll angle, pitch angle and yaw angle, p, q, and r distinguishes table
Show the rolling angular speed of helicopter, pitch rate and yawrate；D1=d1/ m, va
=G1Tmr, vb=G2TΣ, ba=diag { b2,b3,b4, I=diag 1,
1,1 }, wherein m be helicopter quality, g is acceleration of gravity,II=diag { Ix,Iy,IzIt is rotary inertia
Matrix, R are transition matrix of the body coordinate system to earth axes, and H is posture changing matrix, d1And d2It is external unknown disturbances,
TmrIt is the pulling force that Helicopter Main rotor generates, TΣ=[Σx,Σy,Σz]TFor bonding force suffered by helicopter and bonding force away from,
Σx,Σy,ΣzIt is component of the resultant couple in three-dimensional space all directions；Practical control input υf=B υ, wherein B=diag
{b1,b2,b3,b4, biIt is unknown effective control efficiency coefficient, meets 0 < τ≤bi≤ 1, i=1,2,3,4, τ be known event
Hinder lower bound, υ=[Tmr,Σx,Σy,Σz]TIt is desired control input.
Further, in step (2), only consider that the position ring dynamical equation of external disturbance is as follows:
Define tracking error e1And e2:
e1=αd-α
e2=βd-β
Wherein αdIt is desired pursuit path, βdIt is virtual controlling rule；
The then nom inalcontroller v of position ringN1It is as follows:
In above formula,It is σ1Estimated value, η2It is positive definite matrix to be designed, sign () is sign function；
Actuator failures are considered, in above-mentioned nom inalcontroller vN1Middle addition compensation term vC1, obtain position ring robust Fault-Tolerant control
Device v processeda:
va=vN1+vC1
Wherein, μ2It is normal number to be designed.
Further, in step (2), in the nom inalcontroller v of position ringN1In, using a continuous item γ1(e2)
To replace sign (e2):
Wherein,μ1It is normal number to be designed.
Further,Auto-adaptive parameter turnover rate it is as follows:
In above formula,It is constant to be designed.
Further, in step (3), only consider that the posture ring dynamical equation of external disturbance is as follows:
Define tracking error e3And e4:
e3=γd-γ
e4=χd-χ
Wherein γdIt is desired Attitude Tracking track, χdIt is virtual controlling rule；
The then nom inalcontroller v of posture ringN2It is as follows:
In above formula,It is σ2Estimated value, η4It is positive definite matrix to be designed；
Actuator failures are considered, in above-mentioned nom inalcontroller vN2Middle addition compensation term vC2, obtain posture ring robust Fault-Tolerant control
Device v processedb:
vb=vN2+vC2
Wherein, μ6It is normal number to be designed.
Further, in step (3), in the nom inalcontroller v of posture ringN1In, using a continuous item γ2(e4)
To replace sign (e4):
Wherein,μ5It is normal number to be designed.
Further, in step (3),Auto-adaptive parameter turnover rate it is as follows:
Wherein,It is constant to be designed.
By adopting the above technical scheme bring the utility model has the advantages that
Present invention combination Backstepping guarantees its stabilization to the unmanned helicopter design nom inalcontroller for only considering external disturbance,
Inhibit to interfere the influence to system using adaptive approach simultaneously；Actuator failures are re-introduced into, the side of design compensation item is passed through
The negative effect of method reduction failure.Verified, designed control program can solve while considering external disturbance and actuator event
The unmanned helicopter robust Fault-Tolerant tracking control problem of barrier.
Detailed description of the invention
Fig. 1 is control flow chart of the invention.
Specific embodiment
Below with reference to attached drawing, technical solution of the present invention is described in detail.
1. system model
For following unmanned helicopter 6DOF nonlinear dynamical model:
In formula, α=[x, y, z]TWith β=[u, v, w]TIt is the position vector and velocity vector of helicopter under inertial coodinate system,
γ=[φ, θ, ψ]TIt is attitude angle, χ=[p, q, r]TIt is attitude angular rate under body coordinate system, x, y, z respectively indicate helicopter
Component of the position in three-dimensional space all directions, u, v, w respectively indicates the speed of helicopter in three-dimensional space all directions
On component, φ, θ, ψ respectively indicates helicopter roll angle, pitch angle and yaw angle, p, q, and r respectively indicates the rolling of helicopter
Angular speed, pitch rate and yawrate, m are the quality of helicopter, and g is acceleration of gravity,II=
diag{Ix,Iy,IzIt is moment of inertia matrix, TF=[0,0 ,-Tmr]TAnd TΣ=[Σx,Σy,Σz]TRespectively suffered by helicopter
The bonding force and bonding force arrived is away from TmrIt is the pulling force that Helicopter Main rotor generates, Σx,Σy,ΣzIt is resultant couple in three-dimensional space
Component in all directions, d1And d2It is external unknown disturbances, R is transition matrix of the body coordinate system to earth axes, and H is
Posture changing matrix, expression formula difference are as follows:
During helicopter practical flight, actuator failures are the problem of another can not be ignored.Due to helicopter spy
Different structure, mobilizable component are more than fixed wing aircraft.System is run for a long time will lead to transmission mechanism efficiency
Decline.Therefore, actuator failures problem one of is also a problem to be solved.Consider actuator failures, controls the expression of input
Formula is writeable are as follows:
υf=B υ (4)
Wherein, B=diag { b1,b2,b3,b4, biIt (i=1,2,3,4) is that unknown effective control efficiency coefficient meets 0 <
τ≤bi≤ 1, τ are known failure lower bound, υ=[Tmr,Σx,Σy,Σz]TIt is desired control input, υfIt is that practical control is defeated
Enter.
Consider that nobody goes straight up to the external disturbance and actuator failures that may be subject in flight course, in conjunction with equation (4), nothing
People's helicopter 6DOF nonlinear equation can be rewritten are as follows:
Wherein,D1=d1/ m, va=G1Tmr, vb=G2TΣ, ba=diag { b2,b3,b4, I=diag { 1,1,1 }.
For being considered simultaneously there are the unmanned helicopter system model (5) of external disturbance, actuator failures and input saturation,
In order to realize that expected control target, hypothesis below are necessary.
Assuming that 1: in the flight course of helicopter, attitude angle changes between (- 90o, 90o) always.
Assuming that 2: for Helicopter System (5), reference signal ydAnd its derivativeIt is bounded.Meanwhile all shapes
State be can survey it is available.
Assuming that 3: for unknown actuator efficiency factor bi(i=1,2,3,4), it is assumed that its bounded simultaneously meets 0 < τ≤bi
≤ 1, wherein τ is known lower bound.
Assuming that 4: for external disturbance D1And D2, there are unknown normal number σ1And σ2So that ‖ D1‖≤σ1With ‖ D2‖≤σ2It sets up.
2. adaptive equalization fault controller
Consider that system is divided into position below there are the unmanned helicopter system model (5) of external disturbance and actuator failures
Set the influence that ring and posture ring are respectively adopted self-adaptation control method and compensating control method to inhibit fault and disturbance to system.
The first step carries out the design of position ring controller in conjunction with Backstepping.Mentality of designing is external to only considering first
The position ring equation of interference designs nom inalcontroller.Then on the basis of the nom inalcontroller of design, consider actuator failures,
Design compensation item weakens its influence to system.Specific design process is as follows.
Do not consider actuator failures, helicopter position ring dynamical equation can be written as:
Based on equation (6), defining tracking error is
e1=αd-α (7)
e2=βd-β (8)
Wherein αdIt is desired pursuit path, βdIt is virtual controlling rule.
To tracking error e1Derivation can obtain
Design virtual controlling rule:
Wherein, η1It is positive definite matrix to be designed.
Equation (10) are substituted into (9), can be obtained:
To tracking error e2Derivation can obtain
According to equation (12), design position ring nom inalcontroller is
Wherein,It is σ1Estimated value, η2It is positive definite matrix to be designed, sign () is sign function.
By equation (13), it can be seen that sign function sign (e2) presence make controller be it is discrete, in reality
In-flight this can bring to system trembles shake or even keeps system unstable.In order to solve this problem, using a continuous item γ1
(e2) replace sign (e2), and then controller (13) can be further written as
Wherein,μ1It is normal number to be designed.
Parameter turnover rate be
Wherein,It is constant to be designed.
Equation (14) substitution (12) is obtained
DefinitionChoosing liapunov function is
Derivation simultaneously combines (12), and (16)-(17) obtain
However, in practice, in addition to external disturbance, actuator failures are also problem in need of consideration.Therefore, in conjunction with above
Analysis, obtained robust control result is expanded into robust Fault-Tolerant Control.
Based on nom inalcontroller (14), input v is controlled using Compensation Strategies design compensationC1To inhibit actuator failures
Influence to system, then final Robust Fault-tolerant Controller Design is as follows:
va=vN1+vC1 (19)
Wherein μ2It is normal number to be designed.
Virtual controlling restrains βdDesign process with (9)-(10), consider (19), then e2Derivative be
Based on Robust Fault-tolerant Controller (19), liapunov function V1It can be rewritten as
G is obtained according to definition before1Tmr=va=[vax,vay,vaz]T.It is defeated to solve the available control of the equation equation
Enter for
Wherein:
In above formula, θd,φd,ψdFor the pitch angle of reference, roll angle, course angle.
The design cycle of second step, posture ring controller is similar with position ring.Mentality of designing is also outer to only considering first
The posture ring equation of portion's interference designs nom inalcontroller.Then on the basis of the nom inalcontroller of design, consider actuator event
Barrier, design compensation item weaken its influence to system.Specific design process is as follows.
Do not consider actuator failures, helicopter attitude ring dynamical equation can be written as:
Based on equation (26), defining posture ring tracking error is
e3=γd-γ (27)
e4=χd-χ (28)
Wherein γdIt is desired Attitude Tracking track, χdIt is virtual controlling rule.
To tracking error e3Derivation can obtain
Design virtual controlling rule
Wherein, η3It is positive definite matrix to be designed.
Equation (30) are substituted into (29), can be obtained:
To tracking error e4Derivation can obtain:
According to equation (32), designing posture ring nom inalcontroller is
Wherein,It is σ2Estimated value, η4It is positive definite matrix to be designed.
Similarly, in order to solve sign function sign (e2) there are problems that bringing to system and tremble shake, it is continuous using one
Item γ2(e4) replace sign (e4), and then controller (33) can be further written as
Wherein,μ2It is normal number to be designed.
Parameter turnover rate be
Wherein,It is constant to be designed.
DefinitionChoosing liapunov function is
Derivation obtains
The same with position ring, in addition to external disturbance, actuator failures are also problem in need of consideration.Therefore, it will also obtain
Posture ring robust control result be expanded into robust Fault-Tolerant Control scheme.
Based on nom inalcontroller (34), input v is controlled using Compensation Strategies design compensationC2To inhibit actuator failures
Influence with input saturation to system, then final posture ring Robust Fault-tolerant Controller Design is as follows:
vb=vN2+vC2 (38)
Wherein μ6It is normal number to be designed.
Virtual controlling restrains δdDesign process with (29)-(30), consider (38), then e4Derivative be
Based on Robust Fault-tolerant Controller (38), liapunov function V2It can be rewritten as
By above analysis and discussion, following conclusion is obtained:
Conclusion: consider that there are the 6DOF unmanned helicopter dynamical systems of external disturbance, actuator failures and input saturation
(5), parameter update law is chosen for (15) and (35), and designed Robust Fault-tolerant Controller (19) and (38), which can guarantee, entirely to be closed
Loop system signal is ultimate boundness.
Prove: design liapunov function is as follows:
Derivation can obtain
Wherein,
Peer-to-peer (43) integral, can obtain:
According to equation (44), above-mentioned conclusion must be demonstrate,proved.
Control flow chart of the invention is as shown in Figure 1.
Embodiment is merely illustrative of the invention's technical idea, and this does not limit the scope of protection of the present invention, it is all according to
Technical idea proposed by the present invention, any changes made on the basis of the technical scheme are fallen within the scope of the present invention.
Claims (8)
1. a kind of unmanned helicopter robust adaptive compensating control method, which comprises the following steps:
(1) external disturbance and actuator failures are considered simultaneously, construct unmanned helicopter 6DOF nonlinear system model；
(2) system position ring Robust Fault-tolerant Controller is established: the position ring dynamical equation design first to external disturbance is only considered
Nom inalcontroller, and influence of the external disturbance to system is inhibited using adaptive approach；Then in the nom inalcontroller of design
On the basis of, consider actuator failures, compensation term is added to weaken influence of the actuator failures to system；
(3) posture ring Robust Fault-tolerant Controller is established: the posture ring dynamical equation design first to external disturbance is only considered
Nom inalcontroller, and influence of the external disturbance to system is inhibited using adaptive approach；Then in the nom inalcontroller of design
On the basis of, consider actuator failures, compensation term is added to weaken influence of the actuator failures to system.
2. unmanned helicopter robust adaptive compensating control method according to claim 1, which is characterized in that in step (1)
In, unmanned helicopter 6DOF nonlinear system model is as follows:
In above formula, α=[x, y, z]TWith β=[u, v, w]TIt is the position vector and velocity vector of helicopter under inertial coodinate system, γ
=[φ, θ, ψ]TIt is attitude angle vector, χ=[p, q, r]TIt is attitude angular rate vector under body coordinate system, wherein x, y, z distinguish
Indicate that component of the position of helicopter in three-dimensional space all directions, u, v, w respectively indicate the speed of helicopter in three-dimensional space
Between component in all directions, φ, θ, ψ respectively indicates helicopter roll angle, pitch angle and yaw angle, p, q, and r is respectively indicated directly
The rolling angular speed of the machine of liter, pitch rate and yawrate；D1=d1/ m, va=
G1Tmr, vb=G2TΣ, ba=diag { b2,b3,b4, I=diag 1,1,
1 }, wherein m be helicopter quality, g is acceleration of gravity,II=diag { Ix,Iy,IzIt is rotary inertia square
Battle array, R is transition matrix of the body coordinate system to earth axes, and H is posture changing matrix, d1And d2It is external unknown disturbances,
TmrIt is the pulling force that Helicopter Main rotor generates, TΣ=[Σx,Σy,Σz]TFor bonding force suffered by helicopter and bonding force away from,
Σx,Σy,ΣzIt is component of the resultant couple in three-dimensional space all directions；Practical control input υf=B υ, wherein B=diag
{b1,b2,b3,b4, biIt is unknown effective control efficiency coefficient, meets 0 < τ≤bi≤ 1, i=1,2,3,4, τ be known event
Hinder lower bound, υ=[Tmr,Σx,Σy,Σz]TIt is desired control input.
3. unmanned helicopter robust adaptive compensating control method according to claim 1, which is characterized in that in step (2)
In, only consider that the position ring dynamical equation of external disturbance is as follows:
Define tracking error e1And e2:
e1=αd-α
e2=βd-β
Wherein αdIt is desired pursuit path, βdIt is virtual controlling rule；
The then nom inalcontroller v of position ringN1It is as follows:
In above formula,It is σ1Estimated value, η2It is positive definite matrix to be designed, sign () is sign function；
Actuator failures are considered, in above-mentioned nom inalcontroller vN1Middle addition compensation term vC1, obtain position ring Robust Fault-tolerant Controller
va:
va=vN1+vC1
Wherein, μ2It is normal number to be designed.
4. unmanned helicopter robust adaptive compensating control method according to claim 3, which is characterized in that in step (2)
In, in the nom inalcontroller v of position ringN1In, using a continuous item γ1(e2) replace sign (e2):
Wherein,μ1It is normal number to be designed.
5. unmanned helicopter robust adaptive compensating control method according to claim 4, which is characterized in that in step (2)
In,Auto-adaptive parameter turnover rate it is as follows:
In above formula, c1> 0,It is constant to be designed.
6. unmanned helicopter robust adaptive compensating control method according to claim 1, which is characterized in that in step (3)
In, only consider that the posture ring dynamical equation of external disturbance is as follows:
Define tracking error e3And e4:
e3=γd-γ
e4=χd-χ
Wherein γdIt is desired Attitude Tracking track, χdIt is virtual controlling rule；
The then nom inalcontroller v of posture ringN2It is as follows:
In above formula,It is σ2Estimated value, η4It is positive definite matrix to be designed；
Actuator failures are considered, in above-mentioned nom inalcontroller vN2Middle addition compensation term vC2, obtain posture ring Robust Fault-tolerant Controller
vb:
vb=vN2+vC2
Wherein, μ6It is normal number to be designed.
7. unmanned helicopter robust adaptive compensating control method according to claim 6, which is characterized in that in step (3)
In, in the nom inalcontroller v of posture ringN1In, using a continuous item γ2(e4) replace sign (e4):
Wherein,μ5It is normal number to be designed.
8. unmanned helicopter robust adaptive compensating control method according to claim 7, which is characterized in that in step (3)
In,Auto-adaptive parameter turnover rate it is as follows:
Wherein, c3> 0,It is constant to be designed.
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