电力巡检无人机的鲁棒自适应容错控制

Robust adaptive fault tolerate control for stability control of electric patrol survey UAV

针对电力巡检飞行器飞行过程中飞行模式、飞行姿态建立了数学模型,并进行分析.建立了无人机巡检过程的飞行运动及优化控制模型,以满足无人机巡检的约束条件,并提出了鲁棒自适应容错控制算法.以四旋翼飞行器为例进行仿真研究,对不同的运动模型采用不同的优化控制,并加入不同的干扰信号及相应滤波算法进行抗干扰性能测试.仿真结果表明,利用鲁棒自适应容错控制,无人机能够取得良好的控制效果,并且其稳定性及抗干扰性能得到了显著地提升.

A mathematical model for checking air flight mode and flight attitude of unmanned aerial vehicle（UAV）has been established and analyzed.And then an optimal control model for UAV flight inspection process is built up;in order to meet the constraint conditions of UAV inspection;and a robust adaptive fault-tolerance control algorithm is proposed.Simulation research is carried out by taking four-rotor aircraft as examples;the optimization of the different motion models with different controls;and adding different jamming signal filtering algorithms and corresponding anti-interference performance testing.The simulation results show that by using robust adaptive fault-tolerance control;UAV can achieve good control effect;and significantly enhance its stability and anti-jamming ability.