飞行器执行机构故障的鲁棒容错控制器设计

Robust Fault-tolerant Controller for Flight Control Actuator Failures

针对具有冗余操纵机构飞行器的执行机构故障,提出了一种主控制器加补偿控制器的鲁棒容错控制器结构。两个控制器可分开单独设计。系统无故障时,仅主控制器作用,保证被控系统具有较高的性能;系统发生故障后,启用补偿控制器,在保证闭环系统稳定的前提下尽可能地补偿故障对系统造成的影响。控制器可以兼顾系统的性能鲁棒性和容错性,可作为自修复飞行控制系统中的应急控制律。采用PID基于扩张状态观测器的故障补偿的方法实现了该控制器结构。最后,以飞机方向舵卡死故障为例,验证了该控制器的正确性和有效性。

A robust fault-tolerant controller integrating main controller and compensating controller for flight control actuator failures of aircraft with redundant manipulators is discussed.The main controller is designed for high performance of the original faultless system.Compensating controller can be seen as a standalone compensator added to the system to compensate the effects of fault guaranteeing the stability of the system.So this new controller scheme can be seen as a transitional controller in the emergency fault situation as it considers both high performance,robustness and fault-tolerant.Main controller is based on PID.The compensating controller is based on a nonlinear extended state observer.Feasibility and validity of the new controller is demonstrated with the help of simulation example.