| 引用本文: | 周卫东,储敏,高宁,孙天.单翼损坏下的四旋翼飞行控制器设计[J].哈尔滨工业大学学报,2017,49(10):100.DOI:10.11918/j.issn.0367-6234.201607010 |
| ZHOU Weidong,CHU Min,GAO Ning,SUN Tian.Flight control of the quadrotor vehicle with one rotor failure[J].Journal of Harbin Institute of Technology,2017,49(10):100.DOI:10.11918/j.issn.0367-6234.201607010 |
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| 摘要: |
| 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.
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| 关键词: 四旋翼飞行器 单翼损坏 反步法 近悬停状态 飞行控制 |
| DOI：10.11918/j.issn.0367-6234.201607010 |
| 分类号:TP273 |
| 文献标识码:A |
| 基金项目:国家自然科学基金(61573112) |
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| Flight control of the quadrotor vehicle with one rotor failure |
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ZHOU Weidong,CHU Min,GAO Ning,SUN Tian
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(College of Automation, Harbin Engineering University, Harbin 150001, China)
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| Abstract: |
| A design of controller for a quadrotor vehicle with one rotor failure is proposed based on back-stepping approach, to ensure the safety of vehicle when ordinary controllers are ineffective under one rotor failure. According to the rotational and translational motion equations of the quadrotor with one rotor failure, the controller is divided into inner and outer ring. An attitude control loop is adopted to perform the attitude tracking control, and a position loop is proposed to control the position of the vehicle. Although the controller sacrifices the controllability of the yaw state, the vehicle can reach position tracking, and achieve the near-hover flight state in which roll and pitch angles are zero and the angular speed around the vertical axis is a nonzero constant. The simulation results demonstrate the effectiveness of the proposed controller. The results show that the absence of controllability of the yaw state of the quadrotor vehicle will not threaten the aircraft security or its trajectory tracking. The study confirms that a quadrotor vehicle with a rotor failure is still controllable.
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| Key words: quadrotor vehicle rotor failure back-stepping approach near-hover flight control |
