文档介绍：
六旋翼飞行器容错飞行控制#
陈阳,王世勇,李少斌,杨成顺,杨忠**
(南京航空航天大学自动化学院,南京 210016)
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摘要:无人机在电力巡检方面的推广,要求飞控系统更加可靠和稳定。针对六旋翼飞行器执
行机构卡死故障,本文提出一种可实现的容错控制方案。首先,设计一款具有反馈信息功能
的电子调速器,能够实时获得执行机构的工作状态,并将状态信息反馈给飞控计算机。其次,
依据六旋翼的机械结构,建立数学模型,设计滑模控制律,实现六旋翼飞行器的姿态控制。
然后,当发生执行机构卡死故障时,根据电子调速器返回的状态信息,改变控制量的分配,
消除故障电机对飞行器的不良影响。最后,采用仿真软件对控制律进行模拟验证,并进行飞
行器的试验飞行。
关键词:容错控制;六旋翼飞行器;电子调速器;执行机构卡死
中图分类号:+.9
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Fault-tolerant Control of Hexa-copters
Chen Yang, Wang Shiyong, Li Shaobin, Yang Chengshun, Yang Zhong
(College of Automation Engineering, Nanjing University of Aeronautics and Astronautics,
Nanjing 210016, China)
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Abstract: The promotion of UAVs(Unmanned Aerial Vehicle) on the power lines inspection
requires the flight control system to be more raliable and paper puts forward a
realizable fault-tolerant control project against failures of Hexa-copter's ,an ESC
(Electronic Speed Controller)is designed which can get access to the working status in real time
and send status information back to the FCC (Flight puter).Secondly, design sliding
mode control law to achieve attitude control after a mathematical model is built based on the
Hexa-copter's mechanical change the distribution of control to eliminate adverse
affects on copters from fault motors according to the status information received from ESCs when
there meets act