CAJ | 학술논문

针对六旋翼飞行器的执行机构失效故障，提出一种基于滑模和控制分配方法的容错控制方案；采用了分层设计结构，将基本控制律设计与控制分配律分为两个独立的部分，针对系统建模不确定性与外界干扰，设计滑模控制律，提高了系统的鲁棒性，运用控制分配方法，在飞行器发生失效故障甚至卡死故障时，在线调解控制分配矩阵，减小故障机构对整体飞行性能的影响。仿真结果验证了所提容错控制的正确性和有效性。
침대륙선익비행기적집행궤구실효고장，제출일충기우활모화공제분배방법적용착공제방안；채용료분층설계결구，장기본공제률설계여공제분배률분위량개독립적부분，침대계통건모불학정성여외계간우，설계활모공제률，제고료계통적로봉성，운용공제분배방법，재비행기발생실효고장심지잡사고장시，재선조해공제분배구진，감소고장궤구대정체비행성능적영향。방진결과험증료소제용착공제적정학성화유효성。
A fault-tolerant control method was proposed based on sliding mode control and control allocation theory to deal with the failures of hexa-copter's actuators .Firstly,a hierarchical structure was used to divide the basic control law and distribution law into two independent parts .Secondly,a sliding mode control law was designed to improve the robustness of the system with respect to system modeling uncertainties and external disturbances .Then the allocation matrix was adjusted on-line with the help of control allocation theory to reduce bad effects on the whole flight performance caused by failure mechanism when actuators are less effective or even stuck .Finally,simulation results proved the correctness and effectiveness of fault-tolerant control method proposed .