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针对含位置和速率限制、故障重构存在误差和时滞下的过驱动飞行器损伤故障的容错控制问题,提出了一种基于动态自适应加权伪逆法(WPI,Weighted Pseudo Inverse)的积分滑模主动容错方法.采用指令限制模块对饱和控制信号及瞬时干扰进行限制,设计了动态自适应控制分配律逐步减小指令饱和,同时通过故障估计值修正控制分配律来直接补偿气动力损失,降低了故障对系统稳定的影响;设计积分滑模律实现了含重构不匹配和时滞的稳定控制.仿真结果表明,所设计的控制器能快速准确地跟踪参考指令,对时滞具有较强的鲁棒性,同时对损伤故障具有较强容错能力.
In order to solve the fault-tolerant control problem of over-actuated vehicle damage fault with location and velocity limits, fault reconstruction error and delay, an integrated sliding mode based on dynamic adaptive weighted pseudo-inverse (WPI) Active fault tolerant method.An instruction limiting module is used to limit the saturation control signal and transient disturbance.The dynamic adaptive control distribution law is designed to reduce the order saturation gradually and compensate the loss of aerodynamic force directly by correcting the control distribution law of the fault estimate, And the stability of the system to the system is affected. The integral sliding mode is designed to realize the stable control with reconstruction mismatch and delay. The simulation results show that the designed controller can track the reference quickly and accurately, Robust, while the fault damage has a strong fault tolerance.