一种六旋翼无人机的多模型容错控制方法

A Multi-model Fault-tolerant Control Method of Six-rotor UAV

针对经典伪逆算法在处理无人机电机完全失效故障时容易出现电机转速分配超出硬件约束的问题,提出了一种迭代修正方案。在发生故障时利用伪逆算法对正常电机转速进行初步分配;对超出电机硬件约束的转速进行修正,通过多次迭代修正保证转速分配的合理性。仿真结果表明,该方法能对正常电机转速进行合理分配,有效保证六旋翼无人机在发生完全失效故障时的稳定飞行和安全着陆。

An iterative correction scheme is proposed to solve the problem that the motor of UAV rotation speed allocation exceeds the hardware constraint when the classic pseudo-inverse algorithm is used to deal with the complete failure of motors.Firstly,the pseudo-inverse algorithm is used to preliminarily allocate the normal rotation speed of the motor when a rotor fails.Secondly,the rotation speed beyond the constraints of the motor hardware is corrected,and multiple iteration corrections are made to ensure the rationality of rotation speed allocation.The simulation results show that the method can reasonably allocate the normal rotation speed of motor,and can effectively guarantee the stable flight and safe landing of the six-rotor UAV in the event of a complete time failure.