过驱动执行器故障自适应重构控制分配策略

Adaptive Reconfigurable Control Allocation for Over-Actuated Actuator Failures

针对过驱动执行器故障情况下控制指令的协调分配问题,提出了一种自适应修正故障操纵面控制权值的重构控制分配策略.引入虚拟控制指令构造模块化飞行控制系统,并考虑物理约束建立多操纵面飞行器的故障执行器模型.结合多目标混合优化控制分配,沿控制目标梯度下降的方向调整故障操纵面控制指令权值矩阵,整体优化控制分配策略,实现故障执行器控制量的自适应修正.仿真结果表明,该策略可综合考虑执行器故障条件下操纵面的控制效能,避免抖振现象,有效协调分配控制指令,实现控制重构.

With regard to the coordinated control commands allocation with over-actuated actuator failures, a reconfigurable control allocation scheme is proposed by adaptively modifying fault actuator control weights. A modular flight control system is constructed by introducing a virtual control command. Taking into account the mechanical constraints, the fault actuator model of a multi-effectors aircraft is established. Integrated with multi-objective optimal allocation, the command weight matrix of fault control surfaces is adjusted in the descending direction relative to control objective gradients to ensure adaptive modification of the fault actuators. Simulation results show that the proposed scheme can combine control efficiency of fault control surfaces, coordinate the control commands effectively without chattering, and realize control reconfiguration