论文部分内容阅读
针对发生单翼损坏故障时四旋翼飞行器的常规控制失效问题,用反步法设计保证飞行器安全和一般飞行控制的控制器.根据单翼损坏下四旋翼飞行器的旋转与平移运动方程,将控制器划分成内、外环,使用反步法设计这两个环路.内环控制飞行器姿态,外环控制飞行器位置.用反步法设计此种控制器时牺牲飞行器的偏航控制能力,但能实现飞行器一定程度的正常飞行.即能实现飞行器以恒定速度绕其垂直轴转动,机体保持水平同时空间位置不变的近悬停状态,也能通过指令信号实现飞行控制和位置跟踪.经过仿真验证,证实了该控制器对单翼损坏故障下的四旋翼飞行器的飞行控制的有效性,飞行器的稳定性能良好.结果表明,偏航控制能力的丧失不会对四旋翼的安全造成威胁,也不会对飞行器的轨迹跟踪造成较大影响,即保证飞行器能在以恒定速度绕垂直轴转动的情况下进行稳定飞行,同时还能以较快速度跟踪简单的期望轨迹.该研究证实了单翼损坏下的四旋翼飞行器的飞行仍具有可控性.
Aiming at the failure of conventional control of quadrotor in the event of a single wing failure, a backstepping method is used to design the controller to ensure the flight safety and general flight control.According to the equations of rotation and translation of quadrotor under single-wing damage, The inner and outer rings control the position of the aircraft.Designing such a controller by backstepping sacrifices the yaw control ability of the aircraft, To achieve a certain degree of normal flight aircraft that can achieve a constant speed of the aircraft around its vertical axis rotation, the body to maintain the same level of space while the position of the near-hover, but also through the command signal flight control and position tracking.After simulation , Which verified the effectiveness of the controller in the flight control of quadrotor with single-wing failure and the stability of the aircraft was good.The results showed that the loss of yaw control ability would not threaten the safety of quadrotor nor Will have a greater impact on trajectory tracking of the aircraft, that is, to ensure that the aircraft can rotate at a constant speed about the vertical axis Stable flight, while a faster speed track simply desired trajectory. The study confirmed the four-rotor aircraft flying under the wing damage still controllable.