无人机容错性能边界估计方法研究

A Boundary Estimation Algorithm for UAV Fault-Tolerance Performance

针对无人机舵面破损故障,开展无人机控制系统容错性能边界估计方法研究。通过引入舵面破损故障特征参数,建立了舵面破损故障与控制系统特征多项式间的关系;结合无人机飞行品质,将容错性能边界估计问题变为区间特征多项式的广义稳定性问题;然后利用Soh多项式引理解决一类广义稳定区域的稳定问题,并对另一类广义稳定区域,利用映射变换的方法,将广义稳定问题进一步转化为区间特征多项式的稳定性问题,从而可以利用Hurwitz稳定性判据进行分析;最后通过具体算例证明了该方法的可行性。

The boundary estimation algorithm of fault-tolerance performance was researched.By introducing the characteristic parameters of control surface dilapidation,the relationship between the control surface dilapidation and the characteristic polynomial of the control system was established .Based on the UAV flight quality,the boundary estimation problem of fault-tolerance performance was converted into a generalized stability problem of interval polynomials.Then,one class of stability problem of generalized stable region was solved by using Soh polynomial lemma.And the other class is transformed into a stability problem of interval polynomials,which can be analyzed by the Hurwitz stability criterion.Finally,a specific example was adopted to prove the feasibility of the method.