摘要
四旋翼无人机在执行机构长时间的高速旋转和变速时极易发生故障,产生经济损失的同时也威胁到地面行人的安全。针对该问题,采用增量非线性动态逆(INDI)的反馈线性化方法设计一种外环PID位置控制加内环INDI姿态控制的串级反馈容错控制器,分析了控制系统的零动态稳定性,通过搭建平台进行了软件在环仿真测试。结果表明,无人机在执行器故障后仍能维持良好的飞行能力,代价是失去偏航的控制持续自旋,并能够维持一定的稳定性。
Quadcopter UAVs are prone to failure due to long-term high-speed rotation and speed change of the actuator,resulting in economic losses and threatening the safety of pedestrians on the ground.To solve this problem,this paper uses the feedback linear scoring method of Incremental Nonlinear Dynamic Inverse(INDI)to design a cascade feedback fault-tolerant controller with outer loop PID position control and inner loop INDI attitude control,analyzes the zero dynamic stability of the control system,and conducts software-in-the-loop simulation tests by building a platform.The results show that the UAV can still maintain good flight ability after actuator failure,at the cost of losing the control of yaw to continue spin and maintain a certain stability.
作者
吴文浩
赵金星
李晨
柳浩浩
WU Wenhao;ZHAO Jinxing;LI Chen;LIU Haohao(School of Mechanical Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China)
出处
《智能计算机与应用》
2025年第9期49-55,共7页
Intelligent Computer and Applications
基金
国家自然科学基金青年项目(51506130)。
关键词
四旋翼无人机
增量非线性动态逆
容错控制
软件在环仿真
quadcopter Unmanned Aerial Vehicle
Incremental Nonlinear Dynamic Inversion
fault-tolerant control
software-inthe-loop simulation
