基于传感器偏置故障的无人机容错控制设计

Design of UAV Fault-tolerant Control Based on Sensor Bias Fault

为实现固定翼无人机速度和姿态传感器发生偏置故障时的稳定控制,构建了固定翼无人机的非线性六自由度动力学与运动学模型以及传感器偏置故障模型。分别设计了针对加速度计偏置故障和陀螺仪偏置故障的诊断器,当诊断出偏置故障后,采用自适应方法对未知的传感器偏差进行估计,并分析了在传感器测量噪声存在的情况下,自适应估计方法的稳定性。采用反步法和滑膜控制对含有传感器偏置故障的无人机姿态和速度进行控制。使用MATLAB/Simulink软件对无人机进行了飞行仿真试验,结果验证了该诊断与估计方法的有效性,满足控制的要求。

In order to realize the stable control of the fixed-wing UAV when the speed and attitude sensors have bias faults,the nonlinear six-degree-of-freedom dynamics and kinematics model of the fixed-wing UAV and the sensor bias fault model are constructed.The diagnostics for the accelerometer bias fault and the gyroscope bias fault are designed respectively.When the bias fault is diagnosed,the unknown sensor bias is estimated by the adaptive method,and the analysis is carried out in the presence of sensor measurement noise.,the stability of the adaptive estimation method.Backstepping and synovial control are used to control the attitude and speed of UAV with sensor bias fault.The UAV is simulated by MATLAB/Simulink software,and the simulation results verify the effectiveness of the diagnosis and estimation method and meet the control requirements.