四旋翼无人机执行器可重构性量化评价方法研究

申富媛; 李炜

doi:10.13700/j.bh.1001-5965.2019.0568

四旋翼无人机执行器可重构性量化评价方法研究

doi: 10.13700/j.bh.1001-5965.2019.0568

申富媛^{1, 2, 3},
李炜^{1, 2, 3, ,}

1.
兰州理工大学电气工程与信息工程学院, 兰州 730050
2.
兰州理工大学甘肃省工业过程先进控制重点实验室, 兰州 730050
3.
兰州理工大学电气与控制工程国家级实验教学示范中心, 兰州 730050

基金项目:

国家自然科学基金 61763027

详细信息

作者简介:
申富媛女, 博士研究生, 讲师。主要研究方向:动态系统故障诊断与容错控制、故障可重构性等

李炜女, 硕士, 教授。主要研究方向:动态系统故障诊断与容错控制、故障预测与健康评估等

通讯作者:
李炜, E-mail: liwei@lut.edu.cn

中图分类号: TP277
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- 文章访问数: 576
- HTML全文浏览量: 96
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- 被引次数: 0
出版历程
- 收稿日期: 2019-11-02
- 录用日期: 2020-02-03
- 网络出版日期: 2020-11-20

Quantitative reconfigurability evaluation method of actuator for quadrotor UAV

SHEN Fuyuan^{1, 2, 3},
LI Wei^{1, 2, 3
, ,}

1.
College of Electrical and Information Engineering, Lanzhou University of Technology, Lanzhou 730050, China
2.
Key Laboratory of Gansu Advanced Control for Industrial Processes, Lanzhou University of Technology, Lanzhou 730050, China
3.
National Demonstration Center for Experimental Electrical and Control Engineering Education, Lanzhou University of Technology, Lanzhou 730050, China

Funds:

National Natural Science Foundation of China 61763027

More Information

Corresponding author: LI Wei, E-mail: liwei@lut.edu.cn

摘要

摘要:
随着对系统安全性和可靠性要求的不断提高，故障系统的自主恢复能力即系统的可重构性受到高度关注，然而现有对于控制系统可重构性量化评价的方法主要针对线性系统，因此以具有强耦合、欠驱动、强非线性的四旋翼无人机（quadrotor UAV）为被控对象，提出了一种基于双滑模面鲁棒观测器与马氏距离结合的非线性系统可重构性量化评价方法。首先，在四旋翼无人机非线性模型的基础上，设计了具有对扰动和故障均不敏感的双滑模面鲁棒观测器，用于实现对系统状态的准确估计；其次，在执行器饱和及系统状态误差指标双约束条件下，采用基于马氏距离的相似度法，对非线性系统可重构性进行量化评价；最后，通过四旋翼无人机仿真实验验证了所提方法的有效性。结果表明，所提方法能够真实反映不同故障程度下系统的可重构性量化水平，为非线性故障系统控制策略调整补偿提供了重要依据。
- 四旋翼无人机(quadrotor UAV) /
- 非线性系统 /
- 双滑模面观测器 /
- 可重构性量化评价 /
- 马氏距离
Abstract:
The reconfigurability of system, that is, the ability of autonomous recovery of fault system, has been highly concerned by scholars with the continuous improvement of system security and reliability requirements. However, the existing quantitative evaluation methods for the reconfigurability of control system mainly focus on linear system. Therefore, this paper proposes a quantitative evaluation method of reconfigurability for nonlinear system based on the combination of robust observer of double sliding surfaces and Mahalanobis distance, which chooses the quadrotors Unmanned Aerial Vehicle (quadrotor UAV) with strong coupling, underdrive and strong nonlinearity as the controlled object. Firstly, in order to obtain accurate estimation of system state, a double sliding surface robust observer is designed based on the nonlinear model of quadrotor UAV, which is insensitive to disturbance and failure. Secondly, the similarity method based on Mahalanobis distance is used to quantitatively evaluate the reconfigurability for nonlinear system under the double constraints of actuator saturation and system state error. Finally, the effectiveness of the proposed method is verified by the quadrotor UAV simulation experiment. The results show that the method can truly reflect the system reconfigurability quantification level under different failure levels, which provides an important basis of the control strategy adjustment and compensation for nonlinear fault systems.
- quadrotors Unmanned Aerial Vehicle (quadrotor UAV) /
- nonlinear system /
- double sliding surface observer /
- quantitative reconfigurability evaluation /
- Mahalanobis distance

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图 1 quadrotor UAV结构

Figure 1. Quadrotor UAV structure

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图 2 执行器无故障

Figure 2. Failure-free actuator

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图 3 执行器发生故障

Figure 3. Actuator with failure

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图 4 调整不连续项

Figure 4. Discontinuous term adjustment

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图 5 双滑模面观测器

Figure 5. Double sliding surface observer

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表 1 quadrotor UAV物理参数

Table 1. Physical parameters of quadrotor UAV

参数	数值
质量m/kg	1.4
重力加速度g/(m·s^-2)	9.8
绕x、y、z轴的转动惯量 I=[I_xx, I_yy, I_zz]/(kg·m²)	I=diag[0.03, 0.03, 0.04]
螺旋桨的惯性矩I_r/(kg·s²)	0.002
阻力系数k_di(i=1, 2, …, 6)	k_di=0.01(i=1, 2, …, 6)
初始状态	x=[0,0,0,0,0,0,0,0]
期望状态	x_d=[3, 0.5, 0.2, 0.3, 0, 0, 0, 0]

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表 2 执行器故障可重构性量化评价

Table 2. Quantitative reconfigurability evaluation of actuator fault

单一故障	评价结果	多故障	评价结果
[5,0,0,0]	0.906 8	[5,0,1,0]	0.905 3
[10,0,0,0]	0.871 7	[10,0,1,0]	0.869 0
[15,0,0,0]	0.834 7	[15,0,1,0]	0.832 1
[20,0,0,0]	0.796 8	[20,0,1,0]	0.797 8
[25,0,0,0]	0.725 9	[25,0,1,0]	0.723 4

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