论文部分内容阅读
以四旋翼直升机姿态控制系统为对象,针对一类过驱动系统,由控制分布阵列不满秩而引起的执行器故障诊断难的问题,本文采用了一种新颖的多观测器故障诊断方法对执行器故障进行检测和估计,进而设计一种具有故障补偿并且满足H∞性能的动态输出反馈跟踪控制器。该方法不仅能够快速的检测和估计出单通道执行器故障,而且能够有效的补偿故障对系统稳定性的不利影响,保证系统在单通道执行器故障下具有一定的姿态跟踪能力。相对于状态反馈控制器,所提算法有效的避免了模拟状态量而带来的误差,一定程度上提高了系统的控制精度和可实现性。最后通过Quanser3-DOF Hover半物理仿真平台验证所提算法的可行性和有效性。
Aiming at the problem of difficult to diagnose the actuator caused by controlling the dislocation of the array, aiming at the attitude control system of quadrotor helicopter, aiming at the problem of a kind of overdrive system, a novel multi-observer fault diagnosis method is applied to actuator Fault detection and estimation, and then design a fault compensation and meet the H∞ performance dynamic output feedback tracking controller. This method not only can detect and estimate the single-channel actuator faults quickly, but also can effectively compensate the adverse effects of the faults on the system stability and ensure that the system has certain attitude tracking capability under the single-channel actuator failure. Compared with the state feedback controller, the proposed algorithm effectively avoids the error caused by the simulation state quantity and improves the control precision and the implementability of the system to a certain extent. Finally, Quanser3-DOF Hover semi-physical simulation platform to verify the feasibility and effectiveness of the proposed algorithm.