基于WPI的多操纵面飞机积分滑模容错控制

针对含位置和速率限制、故障重构存在误差和时滞下的过驱动飞行器损伤故障的容错控制问题,提出了一种基于动态自适应加权伪逆法(WPI,Weighted Pseudo Inverse)的积分滑模主动容错方法.采用指令限制模块对饱和控制信号及瞬时干扰进行限制,设计了动态自适应控制分配律逐步减小指令饱和,同时通过故障估计值修正控制分配律来直接补偿气动力损失,降低了故障对系统稳定的影响;设计积分滑模律实现了含重构不匹配和时滞的稳定控制.仿真结果表明,所设计的控制器能快速准确地跟踪参考指令,对时滞具有较强的鲁棒性,同时对损伤故障具有较强容错能力.

Fault tolerant control of multi-effectors aircraft using integral sliding model with WPI

An integral sliding model using dynamic adjustment weighted pseudo inverse (WPI) was proposed to fault tolerant control for over-actuated aircraft actuator damaged, which had fault reconstruction error and time delay, position and rate limiting. The instruction restricts module was used to limit saturation control command and instantaneous disturbance. A control allocation scheme using dynamic adjustment WPI was designed to gradually reduce instruction saturation. The control allocation was reconstructed by failure estimate to compensate the aerodynamic loss, which reduced the effects of fault for system stability. An integral siding model control law was designed to ensure system stability with fault reconstruction error and time delay. The simulation results show good track performance, as well as the robust for time delay and tolerant ability for actuator damaged.