基于增益调度PID的四旋翼无人机主动容错控制

Active Fault Tolerant Control for Quadrotor UAV Based on Gain Scheduled PID

针对悬停状态下四旋翼无人机的执行机构故障,提出基于插值增益调度PID的主动容错控制方法,并在四旋翼无人工具实验平台上验证。首先根据不同故障率建立了故障模型集,并通过多模型故障诊断算法估计出故障的大小和时间。然后根据所估计出的故障大小,将控制律切换到相应故障情况下的控制律,实现对不同执行机构故障率的容错。最后在无人飞行工具实验平台上验证,飞行试验结果表明,与单纯的PID控制器相比,以插值增益调度PID为实现形式的主动容错控制方法可以使飞行器的容错性能有效提升。

In this paper, an active fault tolerant control method hased on interpolated gain scheduled PID （IGS-PID） was proposed and tested on the experimental flatform to accommodate the failure of hovering UAV actuator＇s fault. Firstly, a fault model set was established according to different failure rates and the multiple model fault diagnosis algorithm was used to estimate the size and time of the fault. Secondly, based on the estimated fault size, the control law was switched to the corresponding fault control law to realize different faults tolerant control Finally, the pro-- posed method was verified at the experimental platform. The flight test results show that compared with the simple PID controller, the active fault tolerant control method based on interpolated gain scheduled PID can effectively en- hance the quadrotor＇s fault tolerant performance.