多旋翼无人机故障重构和容错控制研究

多旋翼无人机故障重构和容错控制研究(论文14000字,外文翻译)
摘要：目前世界各国都加强了对于无人机的研究。本文首先对无人机飞行原理等做了简要的概述;接下来通过对其故障进行分类，分别建立了卡死和失效故障下的数学模型;然后利用系统输入与姿态信息实现故障检测及重构;最后运用分层模块化设计法得到控制分配算法实现六旋翼的容错飞行。文章结尾部分通过Simulik仿真证明故障检测、重构及容错控制方法的可行性。
关键词:多旋翼无人机;故障重构;容错控制;自适应

Research on Fault Reconstruction and Fault-tolerant Control of Multi-rotor UAV
Abstract：At present, all countries in the world have intensified their research on drones. First of all, this paper gives a brief overview of the flying principle of UAV. Then, by classifying the faults, the mathematical models of stuck fault and failed fault are established. Then the system input and attitude information are used to realize fault detection and reconstruction. Finally, the fault tolerant flight of the six rotors is realized by the control allocation algorithm based on the layered modular design method. At the end of the paper, Simlik simulation is used to prove the feasibility of fault detection, reconstruction and fault-tolerant control.
Keywords :Multi-rotor UAV; Fault Reconstruction; Fault-tolerant Control; Adaptive
 

目 录
1、 绪 论    1
1.1无人机的概念    1
1.2 无人机研究背景及意义    1
1.3国内外研究现状    2
1.4研究目标及内容概述    3
2、无人机的飞行原理及容错控制    4
2.1无人机飞行原理    4
2.2 无人机故障分类    6
2.2.1无人机卡死故障及失效故障    6
2.2.2无人机故障检测及重构    7
2.2.3无人机容错控制技术    8
3、六旋翼无人机的飞行模型建构    10
3.1六旋翼无人机无故障下飞行模型    10
3.2 六旋翼无人机飞行器出现故障    12
4、六旋翼无人机故障检测    14
4.1执行机构故障检测    14
5、六旋翼无人机执行机构故障重构    16
5.1针对卡死故障的自适应故障重构方法    16
5.2 针对失效故障的自适应故障重构方法    17
6、容错控制    20
6.1 六旋翼无人机滑模控制律设计    20
6.2 基于控制分配的容错飞行控制    22
7、 Matlab仿真    25
7.1故障检测及重构仿真验证    25
7.2容错控制仿真实验    28
8、总结及讨论    32
参考文献：    32