基于模糊逻辑的故障直升机直接自适应控制

Direct self-adapting control of faulty helicopter based on fuzzy logic

针对直升机在执行器故障程度连续加重的情形,进行基于模糊逻辑的直接自适应控制方法研究.首先对无故障直升机设计状态反馈控制律使其稳定并配平,同时分析不同程度执行器故障对直升机飞行控制的影响;然后在直接自适应控制的基础上,采用增加模糊逻辑模块提高直接自适应控制的鲁棒性,使其稳定飞行,完成在直升机执行器故障程度连续加重情况下的直接自修复控制.仿真实验表明,基于模糊逻辑的直接自适应控制对直升机程度连续加重的执行器故障具有一定的鲁棒性.

Direct adaptive control method based on fuzzy logic was investigated under the condition that the fault degree of the actuator of helicopter was continuously aggravated.Firstly,state feedback control law was designed for the fault-free helicopter to make it in a stable and balance state.Simultaneously,the impact that actuator fault of various degree had on helicopter flight control was analyzed.Then,direct adaptive control law was constructed for the direct self-repairing control of fault helicopter to ensure the helicopter to fly stably.Finally,in order to enhance the robustness of direct adaptive control,fuzzy logic module was added in this paper so that direct self-repairing control can be successfully accomplished.Simulation results showed the robustness of fuzzy logic based direct adaptive control against the continuously aggravated fault degree of the actuator.