CN114326819A - Unmanned aerial vehicle modeling and structural damage self-adaptive fault-tolerant control method based on coupling force field - Google Patents
Unmanned aerial vehicle modeling and structural damage self-adaptive fault-tolerant control method based on coupling force field Download PDFInfo
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Abstract
The invention discloses a unmanned aerial vehicle modeling and structural damage adaptive fault-tolerant control method based on a coupling force field, and belongs to the technical field of unmanned aerial vehicle fault-tolerant control. The control method disclosed by the invention comprises the following steps: structural damage coupling force field: taking an unmanned gyroplane as an object, considering coupling torque generated in the structural damage state of the unmanned gyroplane, introducing a fault damage function according to the input torque of the unmanned gyroplane, and constructing a coupling force field to obtain a mathematical model of the unmanned gyroplane in the structural damage state; self-adaptive compensation of structural damage: through the mathematical model of the coupling force field structure that unmanned aerial vehicle structural damage produced, design self-adaptation structural damage controller, control input torque distributes under the structural damage state of unmanned gyroplane, has realized unmanned aerial vehicle's optimal stable control under the structural damage state, has reduced because the loss that unmanned aerial vehicle structural damage brought.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle fault-tolerant control, in particular to an unmanned aerial vehicle modeling and structural damage adaptive fault-tolerant control method based on a coupling force field.
Background
The unmanned gyroplane is an aircraft with stronger maneuverability, because the unmanned gyroplane has the characteristics of vertical take-off and landing, hovering and high safety, the unmanned gyroplane is generally applied to the fields of environment monitoring, resource exploration, disaster search and rescue and the like, but as the aircraft, a control system is generally an MIMO system, the unmanned gyroplane has nonlinearity and strong coupling, because of the complexity of a working environment, the interference of various uncertain factors in the flight process needs to be considered, for an actuator fault and disturbance part, a plurality of design schemes exist, however, the dynamic characteristic change and flight control design caused by the damage of the mechanism of the unmanned gyroplane are difficult, at present, the fault-tolerant control for the damage of the mechanism of the unmanned gyroplane is realized, and a better solution scheme is not available.
Disclosure of Invention
The invention aims to provide a coupling force field-based unmanned aerial vehicle modeling and structural damage adaptive fault-tolerant control method, which aims to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
a coupling force field-based unmanned aerial vehicle modeling and structural damage self-adaptive fault-tolerant control method comprises the following steps:
p1: constructing a coupling force field;
respectively establishing a coordinate system (OXYZ) of the unmanned gyroplaneBRotor coordinate system (OXYZ)RSpeed coordinate system (OXYZ)EBy predicting the damage of an unknown mechanism of the unmanned gyroplane and constructing a coupling force field under the structural damage of the unmanned gyroplane to cause the damage of the structure of the aircraft to the outside of the aircraft according to the coupling moment generated by the structural damageShape not related to axis (OXY)BWhen symmetrical, the pneumatic coupling torque is generated
When the damage of the structure of the airplane causes the appearance of the airplane not to be related to the axis (OX)BWhen symmetrical, inertia coupling moment is generated
Pneumatic coupling moment is formed by coupling terms of three channels of rolling, pitching and yawing
The three-axis angular rate of the generator system is calculated, and the inertia coupling moment is obtained by the rotational inertia Ixx,Iyy,IzzSum product of inertia, difference of inertia Ixy,Iy-x,Ix-z,Iy-zThe structural damage function k is obtained by calculating, and then the unmanned aerial vehicle controls the input torque to provide resultant force for three axes under the structural damage statee＝[ke1,ke2,ke3]TRepresenting the structural damage degree of the unmanned gyroplane, and constructing a coupling force field under the structural damage of the unmanned gyroplane by weighting and fusing the unmanned plane without the structural damage and the coupling moment generated under the structural damage;
p2: a self-adaptive structural damage compensation controller;
firstly, obtaining the optimal control rate u of the system under the state that the unmanned gyroplane has no structural damagedAnd obtaining a system nonlinear dynamic model linearization according to the coupling force field to calculate the system control rate u under the structural damage state of the unmanned aerial vehicleeAn adaptive controller y is constructed by the system output and the control rate under two statesm(t)-y(t)＝G(z)(ud(t)-ueAnd (t)), wherein G (z) is a gain matrix, so that the adaptive compensation control rate of the unmanned aerial vehicle under the structural damage is calculated, and the adaptive parameters calculated through the Lyapunov equation update the adaptive compensation control rate of the structural damage in real time, so that the stable control of the unmanned gyroplane under the structural damage state is realized.
As a further scheme of the invention: the method for constructing the unmanned gyroplane flight control system controller under the structural damage state comprises the following specific steps:
s1: respectively establishing a coordinate system (OXYZ) of the unmanned gyroplaneBRotor coordinate system (OXYZ)RSpeed coordinate system (OXYZ)EGiving a moment coupling term caused by airplane structure change when the mechanism is damaged:
structural damage to an aircraft results in a surface-independent (OXY)BWhen the pneumatic coupling torque is symmetrical:
structural damage to the aircraft results in the aircraft not being contoured about the axis (OX)BMoment of inertia coupling when symmetrical:
wherein iotaL、ιM、ιNRespectively corresponding to the pneumatic coupling moment and the inertia coupling moment generated by the three shafts,
coupling terms of three channels of rolling, pitching and yawing respectively, p, q and r represent triaxial angular rates around a coordinate system of the body, and Ixx,Iyy,IzzDenotes moment of inertia, Ixy,Iy-x,Ix-z,Iy-zIs the product of inertia and the difference in inertia;
in the actual operation process of the unmanned rotorcraft, due to the unknown nature of the structural damage, a structural damage function k is introducede＝[ke1,ke2,ke3]TIndicating the damage degree of the structure of the unmanned gyroplane;
wherein Fi col,Fi lon,Fi lat,Fi ped(i-x, y, z) are the forces provided by the four input torques of the unmanned rotorcraft to the three axes in the state of structural damage,
Fxi,Fyi,Fziconstructing a coupling force field under the structural damage of the unmanned gyroplane for the resultant force of the three shafts in the normal state according to the coupling moment and the fault damage function;
Δ iota is the system moment in the state of structural damage,
the three-channel moment in the normal state.
S2: establishing a system state nonlinear model of the structure damage unmanned gyroplane according to the coupling force field:
wherein
The euler angles are roll angle, pitch angle, and yaw angle, respectively, and ω (t) ═ pqr]TFor triaxial angular rates around a coordinate system of the body, I ═ diag { I ═ Ixx Iyy IzzIs the fuselage inertia matrix, where the coordinate transformation matrix
And omega*(t) are respectively expressed as:
s3: self-adaptive fault-tolerant controller for structural damage of unmanned gyroplane
Considering the failure condition of an execution structure caused by structural damage of the unmanned gyroplane, the failure can not be obtained for controlling the input influence mode, type and influence value of the fault, so that the self-adaptive fault-tolerant controller is constructed to realize the stable performance of a flight control system under the condition of not predicting fault information, and a nonlinear structure is converted into a linear structure with a state correlation coefficient matrix by writing a dynamic model of the unmanned gyroplane into a form of a product of state quantity and a state correlation matrix:
specifying state vectors
The unmanned rotorcraft control system has a control input of u ═ δcol δlon δlat δped]TTotal, transverse, longitudinal and tail pitch, respectively, state correlation coefficient matrix
The following state space equation is obtained
Obtaining the system control rate u under the structural damage according to the following performance indexese
Wherein Q and R are respectively a state weight matrix and a control weight matrix.
ue＝-Re(z)-1Be(z)TPe(z)(z-zdes) (14)
For the convenience of the following design, the system control rate u without structural damage is given hered：
ud＝-R-1(z)BT(z)P(z)(z-zdes) (16)
Giving an unmanned rotorcraft model under structural damage:
wherein sigma (t) is defined fault-tolerant adjustment diagonal matrix, and when the ith execution structure needs fault-tolerant adjustment, the function sigma of the corresponding positioniIf (t) is 1, otherwise 0, according to the definition of the matrix, we can obtain the system control model of different execution structure fault-tolerant regulation, and ensure stable tracking to the expected output ymIn the case of (2), an adaptive compensation model is constructed using the output error: y ism(t)-y(t)＝G(z)(ud(t)-ue(t))
Wherein u isde(t) is an adaptive control rate constructed by an output error, G (z) is a gain matrix,
for the controller parameter of adaptive control rate, can be when the unknown structure damage appears in the system, realize the compensation to the unknown trouble self-adaptation that appears through the redundancy between the executor, guarantee the stability of system, design adaptive parameter and realize updating in real time to the controller parameter:
wherein gamma isi(i ═ 1,2,3,4) as adaptive gain，ZeIs a constructed state error matrix.
Compared with the prior art, the invention has the beneficial effects that: the distribution of control input torque under the structural damage state of unmanned gyroplane has been realized, unmanned aerial vehicle's optimal stable control under the structural damage state has been realized. The loss caused by structural damage of the unmanned aerial vehicle is reduced.
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FIG. 1 is a schematic diagram of adaptive fault-tolerant compensation of structural damage;
fig. 2 is a schematic diagram of unmanned aerial vehicle modeling and structural damage fault-tolerant control based on a virtual coupling force field.
Detailed Description
The technical solution of the present patent will be described in further detail with reference to the following embodiments.
Referring to fig. 1-2, the unmanned aerial vehicle modeling and structural damage adaptive fault-tolerant control method based on the coupling force field includes the following steps:
p1: constructing a coupling force field;
respectively establishing a coordinate system (OXYZ) of the unmanned gyroplaneBRotor coordinate system (OXYZ)RSpeed coordinate system (OXYZ)EThe coupling force field under the structural damage of the unmanned aerial vehicle is constructed by predicting the damage of an unknown mechanism of the unmanned gyroplane and according to the coupling moment generated by the structural damage, and when the structural damage of the unmanned aerial vehicle causes that the appearance of the aircraft is not related to the axis (OXY)BWhen symmetrical, the pneumatic coupling torque is generated
When the damage of the structure of the airplane causes the appearance of the airplane not to be related to the axis (OX)BWhen symmetrical, inertia coupling moment is generated
Pneumatic coupling moment is formed by coupling terms of three channels of rolling, pitching and yawing
The three-axis angular rate of the generator system is calculated, and the inertia coupling moment is obtained by the rotational inertia Ixx,Iyy,IzzSum product of inertia, difference of inertia Ixy,Iy-x,Ix-z,Iy-zThe structural damage function k is obtained by calculating, and then the unmanned aerial vehicle controls the input torque to provide resultant force for three axes under the structural damage statee＝[ke1,ke2,ke3]TRepresenting the structural damage degree of the unmanned gyroplane, and constructing a coupling force field under the structural damage of the unmanned gyroplane by weighting and fusing the unmanned plane without the structural damage and the coupling moment generated under the structural damage;
p2: a self-adaptive structural damage compensation controller;
firstly, obtaining the optimal control rate u of the system under the state that the unmanned gyroplane has no structural damagedAnd obtaining a system nonlinear dynamic model linearization according to the coupling force field to calculate the system control rate u under the structural damage state of the unmanned aerial vehicleeAn adaptive controller y is constructed by the system output and the control rate under two statesm(t)-y(t)＝G(z)(ud(t)-ue(t)), wherein G (z) is a gain matrix, so that the adaptive compensation control rate of the unmanned aerial vehicle under the structural damage is calculated, the adaptive parameters are calculated through the Lyapunov equation to update the adaptive compensation control rate of the structural damage in real time, the stable control of the unmanned gyroplane under the structural damage state is realized, and the controller of the unmanned gyroplane flight control system under the structural damage state is constructed, and the method specifically comprises the following steps:
s1: respectively establishing a coordinate system (OXYZ) of the unmanned gyroplaneBRotor coordinate system (OXYZ)RSpeed coordinate system (OXYZ)EGiving a moment coupling term caused by airplane structure change when the mechanism is damaged:
structural damage to an aircraft results in a surface-independent (OXY)BWhen the pneumatic coupling torque is symmetrical:
when the damage of the structure of the airplane causes the appearance of the airplane not to be related to the axis (OX)BMoment of inertia coupling when symmetrical:
wherein iotaL、ιM、ιNRespectively corresponding to the pneumatic coupling moment and the inertia coupling moment generated by the three shafts,
coupling terms of three channels of rolling, pitching and yawing respectively, p, q and r represent triaxial angular rates around a coordinate system of the body, and Ixx,Iyy,IzzDenotes moment of inertia, Ixy,Iy-x,Ix-z,Iy-zIs the product of inertia and the difference in inertia;
in the actual operation process of the unmanned rotorcraft, due to the unknown nature of the structural damage, a structural damage function k is introducede＝[ke1,ke2,ke3]TIndicating the damage degree of the structure of the unmanned gyroplane;
wherein Fi col,Fi lon,Fi lat,Fi ped(i-x, y, z) are the forces provided by the four input torques of the unmanned rotorcraft to the three axes in the state of structural damage,
Fxi,Fyi,Fziconstructing a coupling force field under the structural damage of the unmanned gyroplane for the resultant force of the three shafts in the normal state according to the coupling moment and the fault damage function;
Δ iota is the system moment in the state of structural damage,
is in a normal stateThree channel moments in the states.
S2: establishing a system state nonlinear model of the structure damage unmanned gyroplane according to the coupling force field:
wherein
The euler angles are roll angle, pitch angle, and yaw angle, respectively, and ω (t) ═ pqr]TFor triaxial angular rates around a coordinate system of the body, I ═ diag { I ═ Ixx Iyy IzzIs the fuselage inertia matrix, where the coordinate transformation matrix
And omega*(t) are respectively expressed as:
s3: self-adaptive fault-tolerant controller for structural damage of unmanned gyroplane
Considering the situation of executing structure failure caused by structural damage of the unmanned gyroplane, the influence mode, the type and the influence value of possible faults on control input cannot be acquired, so that the self-adaptive fault-tolerant controller is constructed to realize the stable performance of a flight control system under the condition of not needing fault prediction, and a nonlinear structure is converted into a linear structure with a state correlation coefficient matrix by writing a dynamic model of the unmanned gyroplane into a form of a product of a state quantity and a state correlation matrix:
specifying state vectors
Unmanned rotor wingThe control input of the control system is u ═ deltacol δlon δlat δped]TTotal, transverse, longitudinal and tail pitch, respectively, state correlation coefficient matrix
The following state space equation is obtained
Obtaining the system control rate u under the structural damage according to the following performance indexese
Wherein Q and R are respectively a state weight matrix and a control weight matrix.
ue＝-Re(z)-1Be(z)TPe(z)(z-zdes) (14)
For the convenience of the following design, the system control rate u without structural damage is given hered：
ud＝-R-1(z)BT(z)P(z)(z-zdes) (16)
Giving an unmanned rotorcraft model under structural damage:
wherein sigma (t) is defined fault-tolerant adjustment diagonal matrix, and when the ith execution structure needs fault-tolerant adjustment, the function sigma of the corresponding positioni(t) 1, otherwise 0, according to the matrixBy defining the above, we can obtain the system control model for fault-tolerant adjustment of different execution structures, and ensure stable tracking to the expected output ymIn the case of (2), an adaptive compensation model is constructed using the output error: y ism(t)-y(t)＝G(z)(ud(t)-ue(t))
Wherein u isde(t) is an adaptive control rate constructed by an output error, G (z) is a gain matrix,
for the controller parameter of adaptive control rate, can be when the unknown structure damage appears in the system, realize the compensation to the unknown trouble self-adaptation that appears through the redundancy between the executor, guarantee the stability of system, design adaptive parameter and realize updating in real time to the controller parameter:
wherein gamma isi(i ═ 1,2,3,4) as adaptive gain, ZeIs a constructed state error matrix.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
Although the preferred embodiments of the present patent have been described in detail, the present patent is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present patent within the knowledge of those skilled in the art.
Claims (2)
1. Unmanned aerial vehicle modeling and structural damage self-adaptive fault-tolerant control method based on coupling force field is characterized by comprising the following steps:
p1: constructing a coupling force field;
respectively establishing a coordinate system (OXYZ) of the unmanned gyroplaneBRotor coordinate system (OXYZ)RSpeed coordinate system (OXYZ)EThe coupling force field under the structural damage of the unmanned aerial vehicle is constructed by predicting the damage of an unknown mechanism of the unmanned gyroplane and according to the coupling moment generated by the structural damage, and when the structural damage of the unmanned aerial vehicle causes that the appearance of the aircraft is not related to the axis (OXY)BWhen symmetrical, the pneumatic coupling torque is generated
When the damage of the structure of the airplane causes the appearance of the airplane not to be related to the axis (OX)BWhen symmetrical, inertia coupling moment is generated
Pneumatic coupling moment is formed by coupling terms of three channels of rolling, pitching and yawing
The three-axis angular rate of the generator system is calculated, and the inertia coupling moment is obtained by the rotational inertia Ixx,Iyy,IzzSum product of inertia, difference of inertia Ixy,Iy-x,Ix-z,Iy-zThe structural damage function k is obtained by calculating, and then the unmanned aerial vehicle controls the input torque to provide resultant force for three axes under the structural damage statee＝[ke1,ke2,ke3]TRepresenting the structural damage degree of the unmanned gyroplane, and constructing a coupling force field under the structural damage of the unmanned gyroplane by weighting and fusing the unmanned plane without the structural damage and the coupling moment generated under the structural damage;
p2: a self-adaptive structural damage compensation controller;
firstly, obtaining the optimal control rate u of the system under the state that the unmanned gyroplane has no structural damagedAnd obtaining a system nonlinear dynamic model linearization according to the coupling force field to calculate the system control rate u under the structural damage state of the unmanned aerial vehicleeAn adaptive controller y is constructed by the system output and the control rate under two statesm(t)-y(t)＝G(z)(ud(t)-ueAnd (t)), wherein G (z) is a gain matrix, so that the adaptive compensation control rate of the unmanned aerial vehicle under the structural damage is calculated, and the adaptive parameters calculated through the Lyapunov equation update the adaptive compensation control rate of the structural damage in real time, so that the stable control of the unmanned gyroplane under the structural damage state is realized.
2. The unmanned aerial vehicle modeling and structural damage adaptive fault-tolerant control method based on the coupled force field according to claim 1, wherein a controller of an unmanned gyroplane flight control system in a structural damage state is constructed by the following specific steps:
s1: respectively establishing a coordinate system (OXYZ) of the unmanned gyroplaneBRotor coordinate system (OXYZ)RSpeed coordinate system (OXYZ)EGiving a moment coupling term caused by airplane structure change when the mechanism is damaged:
structural damage to an aircraft results in a surface-independent (OXY)BWhen the pneumatic coupling torque is symmetrical:
structural damage to the aircraft results in the aircraft not being contoured about the axis (OX)BMoment of inertia coupling when symmetrical:
wherein iotaL、ιM、ιNRespectively corresponding to the pneumatic coupling moment and the inertia coupling moment generated by the three shafts,
coupling terms of three channels of rolling, pitching and yawing respectively, p, q and r represent triaxial angular rates around a coordinate system of the body, and Ixx,Iyy,IzzDenotes moment of inertia, Ixy,Iy-x,Ix-z,Iy-zIs the product of inertia and the difference in inertia;
the structural damage function k is introduced heree＝[ke1,ke2,ke3]TIndicating the damage degree of the structure of the unmanned gyroplane;
wherein
Respectively provides force for three shafts by four input torques of the unmanned gyroplane in a structural damage state,
Fxi,Fyi,Fziconstructing a coupling force field under the structural damage of the unmanned gyroplane for the resultant force of the three shafts in the normal state according to the coupling moment and the fault damage function;
Δ iota is the system moment in the state of structural damage,
the three-channel moment in the normal state.
S2: establishing a system state nonlinear model of the structure damage unmanned gyroplane according to the coupling force field:
wherein
The euler angles are roll angle, pitch angle, and yaw angle, respectively, and ω (t) ═ pqr]TFor triaxial angular rates around a coordinate system of the body, I ═ diag { I ═ Ixx Iyy IzzIs the fuselage inertia matrix, where the coordinate transformation matrix
And omega*(t) are respectively expressed as:
s3: self-adaptive fault-tolerant controller for structural damage of unmanned gyroplane
Writing an unmanned aerial vehicle dynamic model into a form of a product of state quantity and a state correlation matrix, and converting a nonlinear structure into a linear structure with a state correlation coefficient matrix:
specifying state vectors
The unmanned rotorcraft control system has a control input of u ═ δcol δlon δlat δped]TTotal, transverse, longitudinal and tail pitch, respectively, state correlation coefficient matrix
The following state space equation is obtained
Obtaining the system control rate u under the structural damage according to the following performance indexese
Wherein Q and R are respectively a state weight matrix and a control weight matrix.
ue＝-Re(z)-1Be(z)TPe(z)(z-zdes) (14)
The system control rate u without structural damage is given hered：
ud＝-R-1(z)BT(z)P(z)(z-zdes) (16)
Giving an unmanned rotorcraft model under structural damage:
wherein sigma (t) is defined fault-tolerant adjustment diagonal matrix, and when the ith execution structure needs fault-tolerant adjustment, the function sigma of the corresponding positioniIf (t) is 1, otherwise 0, according to the definition of the matrix, we can obtain the system control model of different execution structure fault-tolerant regulation, and ensure stable tracking to the expected output ymIn the case of (2), an adaptive compensation model is constructed using the output error: y ism(t)-y(t)＝G(z)(ud(t)-ue(t))
Wherein u isde(t) is an adaptive control rate constructed by an output error, G (z) is a gain matrix,
for the controller parameter of adaptive control rate, can be when the system appears unknown structure damage, realize the compensation to the unknown trouble self-adaptation that appears through the redundancy between the executive structure, guarantee the stability of system, design adaptive parameter and realize updating in real time to the controller parameter:
wherein gamma isi(i ═ 1,2,3,4) as adaptive gain, ZeIs a constructed state error matrix.
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