CN115857309A - Fault-tolerant control method and system for tiltable six-rotor unmanned aerial vehicle - Google Patents
Fault-tolerant control method and system for tiltable six-rotor unmanned aerial vehicle Download PDFInfo
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Abstract
The invention discloses a fault-tolerant control method and a fault-tolerant control system for a tiltable six-rotor unmanned aerial vehicle, wherein the fault-tolerant control method comprises the following steps: acquiring a fault signal of a certain rotor wing; selecting an optimal tilt angle of a target rotor wing associated with a fault signal of a certain rotor wing according to a preset association relation, wherein the target rotor wing is a rotor wing capable of rotating and tilting, and the certain rotor wing is a rotor wing incapable of rotating and tilting; and adjusting the control distribution of the tiltable six-rotor unmanned aerial vehicle according to the optimal inclination angle to obtain a control distribution matrix after a certain rotor fails, and performing fault-tolerant control on the tiltable six-rotor unmanned aerial vehicle based on the control distribution matrix. The fault-tolerant control can be realized after any single rotor completely fails, and meanwhile, the control difficulty and the complexity and cost of a mechanical structure are effectively reduced.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle control, and particularly relates to a fault-tolerant control method and system for a tiltable six-rotor unmanned aerial vehicle.
Background
Many rotor unmanned aerial vehicle compare in traditional fixed wing aircraft, helicopter etc. has simple structure, controls advantages such as nimble, uses extensively in each trade, carries on relevant operation equipment and can carry out tasks such as aerial photography, exploration, rescue, patrol and examine. Meanwhile, the flight safety problem of the unmanned aerial vehicle in the task execution process also receives wide attention. When the power unit of the multi-rotor unmanned aerial vehicle fails, if the blades are broken or fall off, the motor is blocked, the power is electrically adjusted to be short-circuited and the like, the unmanned aerial vehicle is out of control and crashed, and serious safety accidents and economic losses are caused.
Classic six rotor unmanned aerial vehicle clockwise rotation rotor P arranges with counter-clockwise rotation rotor N is adjacent, forms PNPN configuration, and after arbitrary single rotor became invalid completely, triaxial power and moment can't keep balance, and unmanned aerial vehicle has lost static ability of hovering this moment. In order to avoid out-of-control crash, a degradation control strategy is often adopted to make the unmanned aerial vehicle make an emergency landing. Through changing turning to of rotor and arranging, can design into the PPNNPN configuration with unmanned aerial vehicle, have the fault-tolerant ability after specific rotor completely became invalid under this kind of structure, still have the situation that two kinds of single rotors need adopt degradation control after becoming invalid, have certain limitation.
Disclosure of Invention
The invention provides a fault-tolerant control method and a fault-tolerant control system for a tiltable six-rotor unmanned aerial vehicle, which are used for solving the technical problem that the six-rotor unmanned aerial vehicle cannot keep three-axis attitude and height controllability after any single rotor completely fails.
In a first aspect, the invention provides a fault-tolerant control method for a tiltable six-rotor unmanned aerial vehicle, which comprises the following steps:
acquiring a fault signal of a certain rotor wing;
selecting an optimal tilt angle of a target rotor associated with a fault signal of a certain rotor according to a preset association relationship, wherein the target rotor is a rotor capable of rotating and tilting, the certain rotor is a rotor incapable of rotating and tilting, and the constructing of the preset association relationship specifically comprises:
defining three-axis moment of a tiltable six-rotor unmanned plane under a body coordinate system as
：
In the formula (I), the compound is shown in the specification,
for a roll moment, is>
Is a pitching moment, is greater or less>
Is a yaw moment;
the total force generated by six rotors of the tiltable six-rotor unmanned aerial vehicle is
：
In the formula (I), the compound is shown in the specification,
for the thrust that six rotor unmanned aerial vehicle that can incline produced along the x axle direction under the fuselage coordinate system, for the bright plant of the work of the worker>
For the thrust that six rotor unmanned aerial vehicle that can incline produced along the y axle direction under the organism coordinate system, be>
Thrust generated by the tiltable six-rotor unmanned aerial vehicle along the z-axis direction under a body coordinate system;
when establishing six rotor unmanned aerial vehicle of inclinable and being in moment balance state, gesture and height homoenergetic remain stable, and definition zero point is:
in the formula (I), the compound is shown in the specification,
is the total mass of the tiltable six-rotor unmanned plane>
Is the acceleration of gravity;
at this timeThe instantaneous resultant moment generated by the rotor forms a triaxial reachable moment set of the tiltable six-rotor unmanned aerial vehicle
：
In the formula (I), the compound is shown in the specification,
、/>
、/>
respectively a unit vector along the x-axis, a unit vector along the y-axis and a unit vector along the z-axis in a machine body coordinate system, and>
for the three-shaft combined moment generated by the tiltable six-rotor unmanned aerial vehicle under the coordinate system of the robot body, the shaft is connected with the shaft>
Is a three-dimensional vector space on a real number domain;
intercepting
On the plane of =0, the reachable moment set { [ available ] of the tiltable six-rotor unmanned aerial vehicle on the L-M plane during static suspension>
：
In the formula (I), the compound is shown in the specification,
the resultant moment of the unmanned aerial vehicle on the L-M plane is obtained;
wherein the roll moment
And the pitching moment->
Based on the vertical upward thrust under the coordinate system of the machine body>
The roll moment->
And the pitching moment->
And a yaw moment>
Obtaining the relation between the rotary wing rotating speed of the tiltable six-rotor unmanned aerial vehicle;
definition of
Is->
Minimum distance of boundary to zero point:
in the formula (I), the compound is shown in the specification,
representing the boundaries of the collection;
when each non-target rotor fault is selected, each
The inclination angle corresponding to the maximum value of the minimum distance of the boundary to the zero point->
The optimal inclination angle of the target rotor wing is obtained, and the faults of each non-target rotor wing are correspondingly associated with different optimal inclination angles of the target rotor wing to obtain a preset association relation;
and adjusting the control distribution of the tiltable six-rotor unmanned aerial vehicle according to the optimal inclination angle to obtain a control distribution matrix after a certain rotor fails, and performing fault-tolerant control on the tiltable six-rotor unmanned aerial vehicle based on the control distribution matrix.
In a second aspect, the present invention provides a fault tolerant control system for a tiltable six-rotor drone, comprising:
the acquisition module is configured to acquire a fault signal of a certain rotor;
the selecting module is configured to select an optimal tilt angle of a target rotor associated with a fault signal of a certain rotor according to a preset association relationship, wherein the target rotor is a rotor capable of rotating at a tilt angle, the certain rotor is a rotor incapable of rotating at a tilt angle, and the constructing of the preset association relationship specifically includes:
defining three-axis moment of a tiltable six-rotor unmanned plane under a body coordinate system as
：
In the formula (I), the compound is shown in the specification,
for a roll moment, is>
In the form of a pitching moment>
Is a yaw moment;
the total force generated by six rotors of the tiltable six-rotor unmanned aerial vehicle is
：
In the formula,
for the thrust that six rotor unmanned aerial vehicle that can incline produced along the x axle direction under the organism coordinate system, for the->
For the thrust that six rotor unmanned aerial vehicle that can incline produced along the y axle direction under the organism coordinate system, be>
Thrust generated by the tiltable six-rotor unmanned aerial vehicle along the z-axis direction under a body coordinate system;
when establishing six rotor unmanned aerial vehicle of inclinable and being in moment balance state, gesture and height homoenergetic remain stable, and definition zero point is:
in the formula (I), the compound is shown in the specification,
for the total mass of the tiltable six-rotor unmanned plane, and>
is the acceleration of gravity;
at the moment, instantaneous resultant moment generated by the rotor wing forms a three-axis reachable moment set of the tiltable six-rotor wing unmanned aerial vehicle
：
In the formula (I), the compound is shown in the specification,
、/>
、/>
is a unit vector along the x axis, a unit vector along the y axis and a unit vector along the z axis under the coordinate system of the machine body respectively>
For the three-shaft combined moment generated by the tiltable six-rotor unmanned aerial vehicle under the coordinate system of the robot body, the shaft is connected with the shaft>
Is a three-dimensional vector space on a real number domain;
interception
On the plane of =0, the reachable moment set { [ available ] of the tiltable six-rotor unmanned aerial vehicle on the L-M plane during static suspension>
：
In the formula (I), the compound is shown in the specification,
the resultant moment of the unmanned aerial vehicle on the L-M plane is obtained;
wherein the roll moment
And the pitching moment->
According to the vertical upward thrust based on the coordinate system of the machine body>
The roll moment->
And the pitching moment->
And a yaw moment pick>
Obtaining the relation between the rotary wing rotating speed of the tiltable six-rotor unmanned aerial vehicle;
definition of
Is->
Minimum distance of boundary to zero point:
in the formula (I), the compound is shown in the specification,
representing the boundaries of the collection;
when each non-target rotor fault is selected, each
The inclination angle corresponding to the maximum value of the minimum distance of the boundary to the zero point->
The optimal inclination angle of the target rotor wing is obtained, and the faults of each non-target rotor wing are correspondingly associated with different optimal inclination angles of the target rotor wing to obtain a preset association relation;
and the adjusting module is configured to adjust the control distribution of the tiltable six-rotor unmanned aerial vehicle according to the optimal inclination angle to obtain a control distribution matrix after a certain rotor fails, and perform fault-tolerant control on the tiltable six-rotor unmanned aerial vehicle based on the control distribution matrix.
In a third aspect, an electronic device is provided, comprising: at least one processor, and a memory communicatively coupled to the at least one processor, wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the steps of the fault tolerant control method of a tiltable six-rotor drone of any embodiment of the present invention.
In a fourth aspect, the present invention also provides a computer readable storage medium having stored thereon a computer program having instructions which, when executed by a processor, cause the processor to perform the steps of the fault tolerant control method of a tiltable six-rotor drone according to any embodiment of the present invention.
According to the fault-tolerant control method and system of the tiltable six-rotor unmanned aerial vehicle, the three-axis attitude reachable moment set is obtained by a linear programming method according to a kinetic model of the tiltable six-rotor unmanned aerial vehicle and by combining control constraints of the unmanned aerial vehicle during moment balance. And analyzing the position relation between the balance point and the reachable moment set to obtain the performance indexes of the tiltable six-rotor unmanned aerial vehicle before and after the fault and determine the optimal tilting angle after the fault. And the overall fault-tolerant control method and system are realized by combining the selection method of the optimal inclination angle and the dynamic adjustment of control distribution.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
Fig. 1 is a flowchart of a fault-tolerant control method for a tiltable six-rotor drone according to an embodiment of the present invention;
fig. 2 is a schematic diagram of an achievable moment set for a PPNNPN hexarotor drone according to an embodiment of the present disclosure;
FIG. 3 is a schematic diagram of an L-M plane reachable torque set according to an embodiment of the invention;
FIG. 4 is a schematic diagram illustrating the effect of tilt angle α on rxy according to one embodiment of the present invention;
FIG. 5 is a diagram illustrating the set of achievable moments at an optimal tilt angle according to one embodiment of the present invention;
FIG. 6 is a three-axis attitude plot of rotor No. 1 after a failure according to one embodiment of the present invention;
FIG. 7 is a three-axis attitude plot of rotor No. 4 after a failure according to one embodiment of the present invention;
FIG. 8 provides a graph of the derating control attitude for one embodiment of the present invention;
FIG. 9 is a three-axis attitude plot of rotor No. 5 after a failure according to one embodiment of the present invention;
fig. 10 is a block diagram illustrating a fault-tolerant control system of a tiltable six-rotor drone according to an embodiment of the present invention;
fig. 11 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a flow chart of a fault-tolerant control method of a tiltable six-rotor drone according to the present application is shown.
As shown in fig. 1, the fault-tolerant control method of the tiltable six-rotor unmanned aerial vehicle specifically includes the following steps:
and step S101, acquiring a fault signal of a certain rotor wing.
And S102, selecting the optimal inclination angle of a target rotor wing associated with the fault signal of a certain rotor wing according to a preset association relation, wherein the target rotor wing is a rotor wing capable of rotating and inclining, and the certain rotor wing is a rotor wing incapable of rotating and inclining.
In this embodiment, six rotor unmanned aerial vehicle that can incline includes No. 1, no. 2, no. 3, no. 4, no. 5, no. 6 rotor blade, wherein, no. 1, no. 2, no. 5 rotor blade, wherein clockwise (P), no. 3, no. 4, no. 6 rotor blade anticlockwise rotation (N), constitute the PPNNPN overall arrangement to it enables the rotor to rotate around the horn to increase servo motor control system in No. 1 rotor.
Defining an inertial coordinate system
Coordinate system of machine body>
Rotor coordinate system
. Make->
Representing the position of the drone in an inertial frame,
represents the attitude angle of the drone, wherein>
Represents a roll angle around the x-axis, and->
Representing a pitch angle about the y-axis>
Indicating the yaw angle about the z-axis.
The predetermined rotational direction is positive counterclockwise when viewed from the forward direction of the rotational axis. Angular rate of unmanned aerial vehicle under body coordinate system
And the change rate of the posture angle>
The relationship between them is: />
In the formula (I), the compound is shown in the specification,
、/>
、/>
are respectively in>
；
Definition of
A coordinate transformation matrix from a body coordinate system B to an inertial coordinate system E is as follows:
in the formula (I), the compound is shown in the specification,
the included angle between the x axis of the ith rotor wing coordinate system and the x axis of the airframe coordinate system is set;
if the length of the horn is d, the position vector of the ith rotor in the body coordinate system
Comprises the following steps:
in the formula (I), the compound is shown in the specification,
is a rotation matrix around the z-axis:
in the formula (I), the compound is shown in the specification,
is cos (), is->
Sin (), (v), in>
Indicates the angle of rotation;
the dynamic model of the tiltable six-rotor unmanned aerial vehicle is established through a Newton-Euler equation as follows:
in the formula (I), the compound is shown in the specification,
is the total mass of the tiltable six-rotor unmanned plane>
Is a moment of inertia matrix, is asserted>
For the acceleration of the tiltable six-rotor unmanned plane under the inertial coordinate system, the acceleration is changed>
Is the angular speed of the tiltable six-rotor unmanned plane under the coordinate system of the plane body, and is used for controlling the rotor speed of the six-rotor unmanned plane>
、/>
、/>
The rotary inertia around the x axis, the y axis and the z axis of the tiltable hexarotor unmanned aerial vehicle under the coordinate system of the vehicle body is respectively combined>
Is a coordinate conversion matrix from a body coordinate system B to an inertial coordinate system E>
For a coordinate transformation matrix from the rotor coordinate system Ri to the airframe coordinate system B, for>
For the vector position of the ith rotor coordinate system origin in the body coordinate system, for ^ h>
Is the gravity borne by the tiltable six-rotor unmanned aerial vehicle>
、/>
Respectively is the thrust and the reaction torque generated by the ith rotor wing under the rotor wing coordinate system, and is set up and/or is set up>
Is the speed of the i-th motor>
Is a thrust coefficient>
For the coefficient of torque, then:
order to
Obtaining vertical upward thrust based on the dynamic model of the tiltable hexarotor unmanned aerial vehicle>
The roll moment->
And the pitching moment->
And a yaw moment>
And the relation between the rotating speeds of the rotors of the tiltable six-rotor unmanned aerial vehicle:
in the formula (I), the compound is shown in the specification,
is a thrust coefficient>
Is->
，/>
Is->
，/>
For the tilt angle of the tiltable rotor,
is a reverse torqueForce coefficient, <' > based on>
Is the length of the arm of the tiltable six-rotor unmanned aerial vehicle, and is used for judging whether the arm is normal or not>
For controlling the efficiency matrix, is>
、/>
、/>
、
、/>
、/>
The rotating speeds of the corresponding No. 1-6 rotor motors are respectively; />
It should be noted that, 1 number rotor inclines different angles and enables the six rotor unmanned aerial vehicle of PPNNPN still to have the controllability after 5 numbers or 6 numbers rotor totally fail, further strengthens unmanned aerial vehicle's fault-tolerant performance after 2 numbers, 3 numbers or 4 numbers rotor totally fail.
In order to analyze the specific influence brought by the inclination of the No. 1 rotor after different rotor failures, the optimal inclination angle is determined, and the force and the moment generated when the unmanned aerial vehicle is hovered in a static state are analyzed by using a linear programming method.
The building of the preset incidence relation specifically comprises the following steps:
defining three-axis moment of a tiltable six-rotor unmanned plane under a body coordinate system as
：
In the formula (I), the compound is shown in the specification,
for a roll moment, is>
In the form of a pitching moment>
Is the yaw moment;
the total force generated by six rotors of the tiltable six-rotor unmanned aerial vehicle is
：
In the formula (I), the compound is shown in the specification,
for the thrust that six rotor unmanned aerial vehicle that can incline produced along the x axle direction under the organism coordinate system, for the->
For the thrust that six rotor unmanned aerial vehicle that can incline produced along the y axle direction under the organism coordinate system, for the bright plant of the book of the commentaries on classics>
Thrust generated by the tiltable six-rotor unmanned aerial vehicle along the z-axis direction under a body coordinate system;
when establishing six rotor unmanned aerial vehicle of inclinable and being in moment balance state, gesture and height homoenergetic remain stable, and definition zero point is:
in the formula (I), the compound is shown in the specification,
is the total mass of the tiltable six-rotor unmanned plane>
Is the acceleration of gravity;
the instant resultant moment generated by the rotor forms a triaxial reachable moment set of the tiltable six-rotor unmanned aerial vehicle
：
In the formula (I), the compound is shown in the specification,
、/>
、/>
respectively a unit vector along the x-axis, a unit vector along the y-axis and a unit vector along the z-axis in a machine body coordinate system, and>
for the three-shaft combined moment generated by the tiltable six-rotor unmanned aerial vehicle under the coordinate system of the robot body, the shaft is connected with the shaft>
Is a three-dimensional vector space on a real number domain;
the parameters of the unmanned aerial vehicle are selected as shown in table 1, and the reachable torque set of the PPNNPN six-rotor unmanned aerial vehicle during fault-free suspension
As shown in fig. 2, when the zero point is at->
The unmanned aerial vehicle has good performance in any direction. />
In triaxial moments, the yaw moment about the z-axis is mainly generated by the reaction torque, which is usually more than an order of magnitude smaller than the roll and pitch moments, if defined as r
The minimum distance from the boundary to the origin, which is easily influenced by the yaw moment and cannot be fully expressed>
The characteristics of (1). And after the rotor fails, in order to make the unmanned aerial vehicle attitude as stable as possible, the control priority of roll and pitch is greater than yaw, based on which, the pick-off is taken in the convex polyhedron shown in fig. 2>
On the plane of =0, the reachable moment set { [ available ] of the tiltable six-rotor unmanned aerial vehicle on the L-M plane during static suspension>
：
In the formula (I), the compound is shown in the specification,
the resultant moment of the unmanned aerial vehicle on the L-M plane is obtained;
wherein the roll moment
And the pitching moment->
According to the coordinate system of the bodyDownward and upward thrust>
The roll moment->
And the pitching moment->
And a yaw moment pick>
Obtaining the relation between the rotary wing rotating speed of the tiltable six-rotor unmanned aerial vehicle;
PPNNPN six-rotor unmanned aerial vehicle without fault
The moment sets are shown in fig. 3. Define >>
Is->
Minimum distance of boundary to zero point:
in the formula (I), the compound is shown in the specification,
representing the boundaries of the collection;
the performance indexes of different rotor wings after failure can be obtained by calculation according to the formula (16)
See Table 2 when->
<And when 0, the zero point is out of the boundary, and the unmanned aerial vehicle is not controllable. />
Different inclination angles of No. 1 rotor wing can be used for reaching the torque set after No. 2 to No. 6 rotor wings fail
Different effects occur. Tilt angle of rotor No. 1 after complete failure of different rotors>
And a performance index->
The relationship between when and as shown in FIG. 4>
<At 0 time, get
=0。
Selecting
The tilt angle at maximum is the optimum tilt angle for rotor No. 1. Compared with a conventional PPNNPN six-rotor unmanned aerial vehicle, the unmanned aerial vehicle has the advantages that the range of the accessible torque set of the unmanned aerial vehicle is enlarged and the unmanned aerial vehicle contains a zero point after the No. 1 rotor wing is completely failed at the optimal inclination angle and the No. 5 or No. 6 rotor wing is completely failed, and the unmanned aerial vehicle is controlled from the original uncontrollable state; after the No. 2 to No. 4 rotor wing fails, the performance index of the unmanned aerial vehicle is further increased on the basis of the original controllability>
The value of (c).
The total performance indexes of the tiltable PPNNPN six-rotor unmanned aerial vehicle are shown in table 3, and the reachable torque set after the failure of a single rotor
As shown in fig. 5.
When each non-target rotor fault is selected, each
Inclination angle which corresponds to the maximum of the minimum distance of the boundary from zero point->
The optimal inclination angle of the target rotor wing is obtained, and the faults of each non-target rotor wing are correspondingly associated with different optimal inclination angles of the target rotor wing to obtain a preset association relation;
and S103, adjusting the control distribution of the tiltable six-rotor unmanned aerial vehicle according to the optimal inclination angle to obtain a control distribution matrix after a certain rotor fails, and performing fault-tolerant control on the tiltable six-rotor unmanned aerial vehicle based on the control distribution matrix.
In some optional embodiments, while fault-tolerant control can be realized after any single rotor completely fails, the control difficulty and the complexity and cost of a mechanical structure are also effectively reduced. The specific fault-tolerant scheme is as follows:
(1) When the unmanned aerial vehicle flies without faults, the unmanned aerial vehicle can obtain the optimal performance by keeping the conventional form (alpha =0 degrees);
(2) After the No. 1 oblique rotor wing fails, the fault-tolerant control can be realized by utilizing the structural characteristics of the PPNNPN hexarotor wing unmanned aerial vehicle;
(3) After other rotors became invalid, the No. 1 rotor corresponded the different angles of slope according to table 3 and can promoted unmanned aerial vehicle's moment balance, further strengthened unmanned aerial vehicle's controllability. Meanwhile, the control distribution of the motor is adjusted, and a control distribution matrix after the ith rotor wing fails is established
，（17）
In the formula (I), the compound is shown in the specification,
for the control efficiency matrix after a complete failure of the ith rotor, < >>
A matrix is assigned for the control after the i-th rotor has completely failed>
Is the inclined angle of the tiltable rotor wing>
Is a 6 th order unit matrix, is selected>
To solve for the operator of the limit.
In order to verify the rationality of the fault-tolerant scheme, a flight test platform is set up, a light-weight high-strength Carbon Fiber frame with the wheelbase of 550mm is selected, the motor model is Langyu X2216-880KV, the electric regulation model is good SkyWalker 30A, the propeller model is dry and rich Carbon Fiber Nylon1045, and a 4S-4000mah lithium polymer model airplane power battery is selected. An open source pixhawk flight controller is mounted, a No. 1 motor base is fixed on a tilting mechanism, and the thrust direction of a rotor wing is changed through rotation of the tilting mechanism.
Consider six rotor unmanned aerial vehicle structural symmetries, use 1 No. rotor, 4 No. rotor and 6 rotor inefficacy as the example respectively, compare the verification to the fault-tolerant scheme.
(1) Flight experiment for complete failure of No. 1 rotor
Flight tests were performed with an outdoor gust of about 3m/s, the tiltable PPNNPN hexarotor drone takes off in a fault-free state (α =0 °), and enters hover mode at t =42s, with the attitude curves shown in fig. 6:
after stable hovering, the No. 1 motor is controlled to stop running to simulate fault, and when t =90s, the fault diagnosis module acquires fault information and then performs control redistribution according to the formula (18):
after transient fluctuation occurs in the attitude, the stability is rapidly recovered, and the unmanned aerial vehicle still has static hovering capability after the No. 1 rotor fails. The residual performance of each motor in the flight process can be represented by the duty ratio of a PWM signal, when the duty ratio is 0, the motor stops rotating, and the PWM signal is 1100 correspondingly; when the duty cycle is 100%, the motor is saturated and the PWM signal corresponds to 1900. After the fault occurs, the load of the No. 2 motor is about 72% at most, and the load of the No. 4 motor is reduced by about 31%.
(2) Flight experiment for complete failure of No. 4 rotor wing
The tilting mechanism does not work after the No. 1 rotor completely fails, and the implementation of fault-tolerant control depends on the fault tolerance of a PPNNPN layout structure. When the No. 2 to No. 4 rotor wing fails, the inclination of the No. 1 rotor wing can positively affect the fault tolerance of the PPNNPN layout. Taking rotor No. 4 as an example, as shown in fig. 7, after the unmanned aerial vehicle stably hovers, the unmanned aerial vehicle controls motor No. 4 to stop, simulating fault occurrence, when t =46s, the fault diagnosis module acquires fault information to control the tilting mechanism to act, and the rotor No. 1 tilts by 3 °, and meanwhile, motor control is redistributed according to equation (19):
after the attitude recovers stably, the mode is switched to the return flight mode after t =60s, and the unmanned aerial vehicle finishes return flight and landing under the condition that the No. 4 rotor wing is invalid.
After the fault occurs, the load of the No. 5 motor is about 69% at most, and the load of the No. 1 motor is reduced by about 31%. Comparing fig. 7 and 8, it can be seen that the performance index parameter is determined by the tilt of rotor No. 1
The small amplitude increases.
(3) No. 5 rotor wing complete failure flight experiment
The PPNNPN six-rotor unmanned aerial vehicle with the conventional structure has the advantages that after the rotor of No. 5 or No. 6 fails, the three-axis attitude and the height cannot be completely controlled, and the emergency landing is realized by a method of giving up yaw control. Taking the rotor 5 as an example, after the unmanned aerial vehicle stably hovers in the air, when t =26s, the motor stop simulation fault of No. 6 is controlled to occur, the inclination angle α =0 ° of the rotor 1 is kept unchanged, and the triaxial attitude curve is shown in fig. 8. Moment can't be balanced after the rotor became invalid, and unmanned aerial vehicle begins to do the spin motion with higher speed, and the control that degrades is applicable to the emergency landing under the extreme condition, but the too big measuring that can cause the sensor of yaw rate can lead to the fuselage to shake unusually simultaneously, has increased the risk of out of control.
When adopting the tiltable rotor scheme, the fault diagnosis module acquires the action of the control tilt mechanism behind the fault information, and the No. 1 rotor inclines by 5 degrees, and the motor is controlled to redistribute according to the formula (20):
as shown in fig. 9, the three-axis attitude rapidly recovers to be stable by the tilt of the No. 1 rotor, and the fluctuation is within ± 5 °. After t =38s the drone switches to return mode and successfully returns to the starting point in the event of a rotor failure No. 5.
After control is redistributed, the load of the No. 1 and No. 3 motors is about 75 percent at most, the load of the No. 6 motor opposite to the failed rotor is reduced by about 25 percent, and 5 rotors without faults form a new balance state.
Referring to fig. 10, a block diagram of a fault tolerant control system for tiltable six-rotor drone according to the present application is shown.
As shown in fig. 10, the fault-tolerant control system 200 includes an obtaining module 210, a selecting module 220, and an adjusting module 230.
The obtaining module 210 is configured to obtain a fault signal of a certain rotor;
a selecting module 220 configured to select an optimal tilt angle of a target rotor associated with a fault signal of a certain rotor according to a preset association relationship, where the target rotor is a rotor capable of performing a rotating tilt angle, and the certain rotor is a rotor incapable of performing a rotating tilt angle, and the constructing of the preset association relationship specifically includes:
defining three-axis moment of a tiltable six-rotor unmanned plane under a body coordinate system as
：
In the formula (I), the compound is shown in the specification,
for a roll moment, in or on>
Is a pitching moment, is greater or less>
Is the yaw moment;
the total force generated by six rotors of the tiltable six-rotor unmanned aerial vehicle is
：
In the formula (I), the compound is shown in the specification,
for the thrust that six rotor unmanned aerial vehicle that can incline produced along the x axle direction under the organism coordinate system, for the->
For the thrust that six rotor unmanned aerial vehicle that can incline produced along the y axle direction under the organism coordinate system, be>
Thrust generated by the tiltable six-rotor unmanned aerial vehicle along the z-axis direction under a body coordinate system;
when establishing six rotor unmanned aerial vehicle of inclinable and being in moment balance state, gesture and height homoenergetic remain stable, and definition zero point is:
in the formula (I), the compound is shown in the specification,
is the total mass of the tiltable six-rotor unmanned plane>
Is the acceleration of gravity;
the instant resultant moment generated by the rotor forms a triaxial reachable moment set of the tiltable six-rotor unmanned aerial vehicle
：
In the formula (I), the compound is shown in the specification,
、/>
、/>
is a unit vector along the x axis, a unit vector along the y axis and a unit vector along the z axis under the coordinate system of the machine body respectively>
For the three-shaft combined moment generated by the tiltable six-rotor unmanned aerial vehicle under the coordinate system of the robot body, the shaft is connected with the shaft>
Is a three-dimensional vector space on a real number domain;
intercepting
On the plane of =0, the reachable moment set { [ available ] of the tiltable six-rotor unmanned aerial vehicle on the L-M plane during static suspension>
：
In the formula (I), the compound is shown in the specification,
the resultant moment of the unmanned aerial vehicle on the L-M plane is obtained;
wherein the roll moment
And pitching moment>
According to the vertical upward thrust based on the coordinate system of the machine body>
And a rolling moment>
And the pitching moment->
And a yaw moment pick>
Obtaining the relation between the rotary wing rotating speed of the tiltable six-rotor unmanned aerial vehicle;
definition of
Is->
Minimum distance of boundary to zero point:
in the formula (I), the compound is shown in the specification,
representing the boundaries of the collection;
when each non-target rotor fault is selected, each
The inclination angle corresponding to the maximum value of the minimum distance of the boundary to the zero point->
For the optimum tilt angle of the target rotor, and correlating each non-target rotor fault with a different optimum tilt angle of the target rotorObtaining a preset incidence relation;
and an adjusting module 230 configured to adjust the control distribution of the tiltable six-rotor unmanned aerial vehicle according to the optimal tilt angle to obtain a control distribution matrix after a rotor fails, and perform fault-tolerant control on the tiltable six-rotor unmanned aerial vehicle based on the control distribution matrix.
It should be understood that the modules recited in fig. 10 correspond to various steps in the method described with reference to fig. 1. Thus, the operations and features described above for the method and the corresponding technical effects are also applicable to the modules in fig. 10, and are not described again here.
In other embodiments, embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored, where the program instructions, when executed by a processor, cause the processor to execute the fault-tolerant control method for a tiltable six-rotor drone in any of the above method embodiments;
as one embodiment, the computer-readable storage medium of the present invention stores computer-executable instructions configured to:
acquiring a fault signal of a certain rotor wing;
selecting an optimal tilt angle of a target rotor wing associated with a fault signal of a certain rotor wing according to a preset association relation, wherein the target rotor wing is a rotor wing capable of rotating and tilting, and the certain rotor wing is a rotor wing incapable of rotating and tilting;
and adjusting the control distribution of the tiltable six-rotor unmanned aerial vehicle according to the optimal inclination angle to obtain a control distribution matrix after a certain rotor fails, and performing fault-tolerant control on the tiltable six-rotor unmanned aerial vehicle based on the control distribution matrix.
The computer-readable storage medium may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of the fault-tolerant control device of the tiltable six-rotor drone, and the like. Further, the computer readable storage medium may include high speed random access memory and may also include memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the computer readable storage medium optionally includes memory remotely located from the processor, and these remote memories may be connected to the fault tolerant control of the tiltable six rotor drone over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
Fig. 11 is a schematic structural diagram of an electronic device according to an embodiment of the present invention, and as shown in fig. 11, the electronic device includes: a processor 310 and memory 320. The electronic device may further include: an input device 330 and an output device 340. The processor 310, the memory 320, the input device 330, and the output device 340 may be connected by a bus or other means, and fig. 11 illustrates a connection by a bus as an example. The memory 320 is the computer-readable storage medium described above. The processor 310 executes various functional applications of the server and data processing by running the nonvolatile software programs, instructions and modules stored in the memory 320, so as to implement the fault-tolerant control method of the tiltable six-rotor drone according to the above method embodiment. The input device 330 may receive input numeric or character information and generate key signal inputs related to user settings and functional control of the fault-tolerant control device of the tiltable six-rotor drone. The output device 340 may include a display device such as a display screen.
The electronic device can execute the method provided by the embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in this embodiment, reference may be made to the method provided by the embodiment of the present invention.
As an embodiment, the above electronic device is applied to a fault-tolerant control device of a tiltable six-rotor unmanned aerial vehicle, for a client, and includes: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to cause the at least one processor to:
acquiring a fault signal of a certain rotor wing;
selecting an optimal tilt angle of a target rotor wing associated with a fault signal of a certain rotor wing according to a preset association relation, wherein the target rotor wing is a rotor wing capable of rotating and tilting, and the certain rotor wing is a rotor wing incapable of rotating and tilting;
and adjusting the control distribution of the tiltable six-rotor unmanned aerial vehicle according to the optimal inclination angle to obtain a control distribution matrix after a certain rotor fails, and performing fault-tolerant control on the tiltable six-rotor unmanned aerial vehicle based on the control distribution matrix.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment may be implemented by software plus a necessary general hardware platform, and may also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods of the various embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. A fault-tolerant control method of a tiltable six-rotor unmanned aerial vehicle is characterized by comprising the following steps:
acquiring a fault signal of a certain rotor wing;
selecting the optimal tilt angle of a target rotor wing associated with a fault signal of a certain rotor wing according to a preset association relation, wherein the target rotor wing is a rotor wing capable of rotating at a tilt angle, the certain rotor wing is a rotor wing incapable of rotating at a tilt angle, and the preset association relation is constructed by specifically comprising the following steps of:
defining three-axis moment of a tiltable six-rotor unmanned plane under a body coordinate system as
：
In the formula (I), the compound is shown in the specification,
for a roll moment, is>
Is a pitching moment, is greater or less>
Is a yaw moment;
the total force generated by six rotors of the tiltable six-rotor unmanned aerial vehicle is
：
In the formula (I), the compound is shown in the specification,
for the thrust that six rotor unmanned aerial vehicle that can incline produced along the x axle direction under the organism coordinate system, for the->
For the thrust that six rotor unmanned aerial vehicle that can incline produced along the y axle direction under the organism coordinate system, for the bright plant of the book of the commentaries on classics>
Thrust generated by the tiltable six-rotor unmanned aerial vehicle along the z-axis direction under a body coordinate system;
when establishing six rotor unmanned aerial vehicle of inclinable and being in moment balance state, gesture and height homoenergetic remain stable, and definition zero point is:
in the formula (I), the compound is shown in the specification,
for the total mass of the tiltable six-rotor unmanned plane, and>
is the acceleration of gravity;
the instant resultant moment generated by the rotor forms a triaxial reachable moment set of the tiltable six-rotor unmanned aerial vehicle
：
In the formula (I), the compound is shown in the specification,
、/>
、/>
is a unit vector along the x axis, a unit vector along the y axis and a unit vector along the z axis under the coordinate system of the machine body respectively>
Is tiltableThree-shaft combined moment generated by six-rotor unmanned aerial vehicle under body coordinate system>
Is a three-dimensional vector space on a real number domain;
intercepting
Plane when =0, the reachable moment set of the tiltable six-rotor unmanned aerial vehicle on the L-M plane during static suspension can be obtained
：
In the formula (I), the compound is shown in the specification,
the resultant moment of the unmanned aerial vehicle on the L-M plane is obtained;
wherein the roll moment
And the pitching moment->
According to the vertical upward thrust based on the coordinate system of the machine body>
The roll moment->
And the pitching moment->
And a yaw moment pick>
With six rotor unmanned aerial vehicle's that can incline each rotorObtaining the relation between the rotating speeds;
definition of
Is->
Minimum distance of boundary to zero point:
in the formula (I), the compound is shown in the specification,
representing the boundaries of the collection;
when each non-target rotor fault is selected, each
Inclination angle corresponding to maximum value of minimum distance from boundary to zero point
The optimal inclination angle of the target rotor wing is obtained, and the faults of each non-target rotor wing are correspondingly associated with different optimal inclination angles of the target rotor wing to obtain a preset association relation;
and adjusting the control distribution of the tiltable six-rotor unmanned aerial vehicle according to the optimal inclination angle to obtain a control distribution matrix after a certain rotor fails, and performing fault-tolerant control on the tiltable six-rotor unmanned aerial vehicle based on the control distribution matrix.
2. The fault-tolerant control method for a tiltable six-rotor drone of claim 1, wherein the thrust in vertical upward direction under the coordinate system of the body is vertical
The roll moment->
And the pitching moment->
And a yaw moment>
The relation between each rotor speed with six rotor unmanned aerial vehicle that can incline is:
in the formula (I), the compound is shown in the specification,
is a thrust coefficient>
Is->
，/>
Is->
，/>
Is the inclined angle of the tiltable rotor wing>
Is an antitorque factor>
Is the length of the arm of the tiltable six-rotor unmanned aerial vehicle, and is used for judging whether the arm is normal or not>
For controlling the efficiency matrix, is>
、/>
、/>
、/>
、
、/>
Respectively corresponding to the rotating speed of No. 1-6 rotor motors.
3. The fault-tolerant control method for a tiltable six-rotor drone of claim 2, wherein a vertical upward thrust under a coordinate system of the body is constructed
And a rolling moment>
And the pitching moment->
And a yaw moment pick>
The relation between the rotation speeds of the rotors of the tiltable six-rotor unmanned aerial vehicle comprises:
the dynamic model of the tiltable six-rotor unmanned aerial vehicle is established through a Newton-Euler equation as follows:
in the formula (I), the compound is shown in the specification,
is the total mass of the tiltable six-rotor unmanned plane>
Is a matrix of the moment of inertia,
for the acceleration of the tiltable six-rotor unmanned plane under the inertial coordinate system, the acceleration is changed>
Is the angular speed of the tiltable six-rotor unmanned plane under the coordinate system of the plane body, and is used for controlling the rotor speed of the six-rotor unmanned plane>
、/>
、/>
Respectively, the rotary inertia around the x axis, the y axis and the z axis of the tiltable hexarotor unmanned aerial vehicle under the coordinate system of the machine body, and the rotating inertia around the x axis, the y axis and the z axis>
Is a coordinate conversion matrix from a body coordinate system B to an inertial coordinate system E>
For a coordinate transformation matrix from the rotor coordinate system Ri to the airframe coordinate system B, for>
For the vector position of the ith rotor coordinate system origin in the body coordinate system, for ^ h>
Is the gravity borne by the tiltable six-rotor unmanned aerial vehicle>
、/>
Respectively is the thrust and the reaction torque generated by the ith rotor wing under the rotor wing coordinate system, and is set up and/or is set up>
Is the speed of the i-th motor>
Is a thrust coefficient>
For the coefficient of torque, then:
order to
Obtaining vertical upward thrust based on the dynamic model of the tiltable hexarotor unmanned aerial vehicle>
The roll moment->
And the pitching moment->
And a yaw moment pick>
And the rotational speed of each rotor of the tiltable six-rotor unmanned aerial vehicle.
4. The method of claim 1, wherein after selecting the optimal tilt angle of the target rotor associated with the fault signal of a rotor according to a predetermined association relationship, the method further comprises:
and adjusting the inclination angle of the target rotor wing to the optimal inclination angle.
5. The fault-tolerant control method for a tiltable six-rotor unmanned aerial vehicle according to claim 1, wherein the expression of the control distribution matrix is:
in the formula (I), the compound is shown in the specification,
for a control efficiency matrix after a complete failure of the i-th rotor>
Assigning a matrix for control after a complete failure of the ith rotor>
For tilting angle of the tiltable rotor, or for shifting the tiltable rotor>
Is a 6 th order unit matrix>
To solve for the extreme operator.
6. A six rotor unmanned aerial vehicle's of tilting fault-tolerant control system which characterized in that includes:
the acquisition module is configured to acquire a fault signal of a certain rotor;
the selecting module is configured to select an optimal tilt angle of a target rotor associated with a fault signal of a certain rotor according to a preset association relationship, wherein the target rotor is a rotor capable of rotating at a tilt angle, the certain rotor is a rotor incapable of rotating at a tilt angle, and the constructing of the preset association relationship specifically comprises:
defining three-axis moment of the tiltable six-rotor unmanned plane under a body coordinate system as
：
In the formula (I), the compound is shown in the specification,
for a roll moment, is>
In the form of a pitching moment>
Is the yaw moment;
the total force generated by six rotors of the tiltable six-rotor unmanned aerial vehicle is
：
In the formula (I), the compound is shown in the specification,
for tiltable six rotorsThrust generated by the unmanned aerial vehicle along the x-axis direction under the body coordinate system is used for collecting and collecting>
For the thrust that six rotor unmanned aerial vehicle that can incline produced along the y axle direction under the organism coordinate system, be>
Thrust generated by the tiltable six-rotor unmanned aerial vehicle along the z-axis direction under a body coordinate system;
when establishing six rotor unmanned aerial vehicle of inclinable and being in moment balance state, gesture and height homoenergetic remain stable, and definition zero point is:
in the formula (I), the compound is shown in the specification,
is the total mass of the tiltable six-rotor unmanned plane>
Is the acceleration of gravity;
the instant resultant moment generated by the rotor forms a triaxial reachable moment set of the tiltable six-rotor unmanned aerial vehicle
：
In the formula (I), the compound is shown in the specification,
、/>
、/>
is a unit vector along the x axis, a unit vector along the y axis and a unit vector along the z axis under the coordinate system of the machine body respectively>
For the three-shaft combined moment generated by the tiltable six-rotor unmanned aerial vehicle under the coordinate system of the robot body, the shaft is connected with the shaft>
Is a three-dimensional vector space on a real number domain;
intercepting
Plane when =0, the reachable moment set of the tiltable six-rotor unmanned aerial vehicle on the L-M plane during static suspension can be obtained
：
In the formula (I), the compound is shown in the specification,
the resultant moment of the unmanned aerial vehicle on the L-M plane is obtained;
wherein the roll moment
And the pitching moment->
According to the vertical upward thrust based on the coordinate system of the machine body>
The roll moment->
And the pitching moment->
And a yaw moment pick>
Obtaining the relation between the rotary wing rotating speed of the tiltable six-rotor unmanned aerial vehicle;
definition of
Is->
Minimum distance of boundary to zero point:
in the formula (I), the compound is shown in the specification,
representing the boundaries of the collection;
when each non-target rotor fault is selected, each
Inclination angle corresponding to maximum value of minimum distance from boundary to zero point
The optimal inclination angle of the target rotor wing is obtained, and the faults of each non-target rotor wing are correspondingly associated with different optimal inclination angles of the target rotor wing to obtain a preset association relation;
and the adjusting module is configured to adjust the control distribution of the tiltable six-rotor unmanned aerial vehicle according to the optimal inclination angle to obtain a control distribution matrix after a certain rotor fails, and perform fault-tolerant control on the tiltable six-rotor unmanned aerial vehicle based on the control distribution matrix.
7. An electronic device, comprising: at least one processor, and a memory communicatively coupled to the at least one processor, wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any of claims 1-5.
8. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method of any one of claims 1 to 5.
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