基于线性化反馈和类四旋翼的六旋翼容错控制

Fault-tolerant control of six-rotor unmanned aerial vehicle based on similar quadrotor model and linearized feedback control

文中针对六旋翼无人机执行机构故障,提出了一种基于线性化反馈控制的容错控制算法。通过外加传感器检测驱动器和电机故障的发生,采用关闭该电机及其对角电机的方法将六旋翼模型化为类四旋翼。针对六旋翼的类四旋翼模型旋转力矩与升力到四个旋翼转速转换无解的情况,设计六旋翼三个轴上旋转力矩的控制关系,从而求解出四个旋翼转速,实现六旋翼飞行器执行机构故障下的稳定可靠飞行,提高六旋翼系统的鲁棒性。仿真结果验证了所提容错控制算法的有效性。

In this paper,a fault-tolerant control algorithm based on linearized feedback control is proposed for the failure of six-rotor unmanned aerial vehicle(UAV)actuators. An external sensor is used to detect the fault of driver and motor. The fault motor and its diagonal motor will be turned off. The six rotor is then modeled as a similar quad-rotor. To deal with the problem that the transformation equation from rotation torque and lift force to four-rotor speed has no solution,the six-rotor three-axis rotational torque control relationship is designed to obtain the four- rotor speed,which guarantees a stable and reliable flight under the failure of actuators. Finally,the effectiveness of the proposed fault- tolerant control algorithm is verified by simulation results.