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输入输出受限的无人机防滑刹车系统容错控制

孙辉 闫建国 屈耀红

孙辉, 闫建国, 屈耀红等 . 输入输出受限的无人机防滑刹车系统容错控制[J]. 北京航空航天大学学报, 2017, 43(6): 1132-1140. doi: 10.13700/j.bh.1001-5965.2016.0438
引用本文: 孙辉, 闫建国, 屈耀红等 . 输入输出受限的无人机防滑刹车系统容错控制[J]. 北京航空航天大学学报, 2017, 43(6): 1132-1140. doi: 10.13700/j.bh.1001-5965.2016.0438
SUN Hui, YAN Jianguo, QU Yaohonget al. Fault-tolerant control of UAV anti-skid braking system with input and output constraints[J]. Journal of Beijing University of Aeronautics and Astronautics, 2017, 43(6): 1132-1140. doi: 10.13700/j.bh.1001-5965.2016.0438(in Chinese)
Citation: SUN Hui, YAN Jianguo, QU Yaohonget al. Fault-tolerant control of UAV anti-skid braking system with input and output constraints[J]. Journal of Beijing University of Aeronautics and Astronautics, 2017, 43(6): 1132-1140. doi: 10.13700/j.bh.1001-5965.2016.0438(in Chinese)

输入输出受限的无人机防滑刹车系统容错控制

doi: 10.13700/j.bh.1001-5965.2016.0438
基金项目: 

国家自然科学基金 60974146

国家自然科学基金 61473229

详细信息
    作者简介:

    孙辉, 男, 博士研究生。主要研究方向:无人机机电系统容错控制

    闫建国, 男, 博士, 教授。主要研究方向:导航制导与飞行控制、计算机控制

    屈耀红, 男, 博士, 副教授。主要研究方向:组合导航及在线风场估计、容错定位

    通讯作者:

    闫建国, E-mail:yjg0311@nwpu.edu.cn

  • 中图分类号: TP237;V227

Fault-tolerant control of UAV anti-skid braking system with input and output constraints

Funds: 

National Natural Science Foundation of China 60974146

National Natural Science Foundation of China 61473229

More Information
  • 摘要:

    针对无人机防滑刹车系统工作过程中同时出现系统输出滑移率稳定区域受限、控制输入饱和与刹车执行机构故障的多重约束问题,提出了一种基于障碍Lyapunov形式的自适应神经网络反演容错控制器的设计方法。当刹车执行机构发生故障时,通过自适应神经网络补偿刹车系统中的非线性及不确定项。根据反演设计原理,应用神经网络输出设计相应的容错控制律,同时,在控制器的设计中引入鲁棒切换控制项,优化系统快速容错的暂态性能。首先本文设计的容错控制器无需精确获取执行机构在线故障的重构信息,也能使刹车闭环系统能够快速稳定,然后基于Lyapunov方法分析了系统的稳定性,最后通过数值仿真结果表明,所提出的容错控制算法能够有效地保证刹车执行机构故障时控制系统的稳定性和有效性。

     

  • 图 1  切换跑道下执行器无故障时的刹车仿真结果

    Figure 1.  Results of simulation for braking under switch runway with no fault of actuator

    图 2  结冰跑道下执行器时变故障时的刹车仿真结果

    Figure 2.  Results of simulation for braking under ice runway with time-varying fault of actuator

    表  1  μ-δ关系参数示意

    Table  1.   Relationship of μ-δ parametric representation

    飞机跑道状态 D C B
    干柏油跑道 0.8 1.534 4 14.032 6
    湿柏油跑道 0.4 2.019 2 8.209 8
    结冰跑道 0.2 2.087 5 7.201 8
    下载: 导出CSV
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出版历程
  • 收稿日期:  2016-05-23
  • 录用日期:  2016-07-01
  • 网络出版日期:  2017-06-20

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