四旋翼飞行器容错控制系统设计与实现

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1、ABSTRACTABSTRACTFlyingControlSystem(FCS)isthekeysystemwhichdeterminesthesafetyofUnmannedAerialVehicles(UAV).ThesystemwhichmeasuresattitudeandrateofattitudeisthekeyelementthatdeterminesthesaftyandreliabilityofFCS.Itisthefocusofresearchtodesignfault-tolerantflycontrolsystemtosolve

2、sensorfaults,andit’sdifficultforresearchersanddesigners.Manyresearchesareonfault-toleranttheoryandapproaches,thereislackofexcellentclassifyingplant.Quadrotorisalow-costandportableaerial-vehiclewhichcanverticaltakeoffandland(VTOL)andmovein6DOF.Afterall,quadrotorcanplayanexcellent

3、roletoclassifythesealgorithmsonfault-tolerantcontrol.Inordertodesignafault-tolerantFCSandclassifyitonquadrotor,thisthesiscompletedfollowworks:1.Completedthecontrollawdesignedundernormalsituationwiththekinematicanddynamicmodel.Onthebasisoftheanalysisofthequadrotorflightprinciple,

4、establishedthekinematicanddynamicmodels;andthendesignedProportional-Integral-Derivative(PID)contoller,Mode-Reference-Adaptive–Contol(MRAC)controller,BackstepingcontollertoQuadrotor’sattitude.Attheend,analysedtherobustnessofthethreecontrollers.2.Analyzethreatnessfromthecommonfaul

5、tssuchassensorbias,lossofaccuracyofsensor,sensordrift,frozenofsensoroftheaerialvehiclewhichwascontrolledbyPIDcontrollerandMRACcontroller.3.DesignthefaulttolerantflyingcontrolsystemincludingasuperfluoussensorssystemandfaulttolerantcontrollersusingfaultobserversbasedonPIDcontrolle

6、randMRACcontroller.4.ImplementthefaulttolerantFCSandexperiment.Theimplementincludedtheattitudeandheadingsystem,theflyingcontrolcomputer.Theexperimentincludedclassificationsofsuperfluoussensorssystem,faulttolerantcontrollaw.Thisdessertationgetsthefellowlinesuponthework:III万方数据ABS

7、TRACT1.UsingaproportionalcomponentandadifferentiationcomponentcanstabilizetheattitudesystemofQuadrotor,andadamperfeedbackingwithrateofangleincreasedthestabilityoftheQuadrotor’sattitude.2.MRACcontrollerismorerobustthanPIDcontrollerwithdisturbancetorque.3.Backsteppingcontrollerisd

8、esignedbasedonnonlinearsystem.Butthecrosscoupli