四旋翼无人机姿态控制传感器故障的区间估计

doi:10.16180/j.cnki.issn1007-7820.2021.10.009

摘要/Abstract

摘要：

针对四旋翼无人机姿态控制系统传感器发生故障的问题,文中采用多胞体原理进行区间估计,利用泰勒展开对无人机非线性系统进行线性化处理,并通过视传感器故障为增广状态的方法将原始系统转换为等效的广义系统。H_∞技术设计鲁棒增广状态观测器,通过求解线性矩阵不等式得到四旋翼无人机姿态控制系统传感器的故障估计。基于中心对称多胞体原理对估计结果进行分析,得到传感器故障的区间估计和算法设计。基于MATLAB仿真平台,以四旋翼无人机姿态控制传感器故障系统为分析对象,验证了文中所提出区间估计方法的可行性与有效性。

关键词: 四旋翼无人机, 中心对称多胞体, 状态观测器, 传感器故障, 线性矩阵不等式, 离散线性系统, 广义系统, 集员估计

Abstract:

This study aims at estimating the sensor fault interval of attitude control system of quadrotor UAV based on zonotopes. The UAV’s nonlinear system is linearized by Taylor series expansion and the original system is transformed into an equivalent generalized system by considering the sensor fault as an augmented state. A robust augmented state observer is design by using H_∞ technique. By solving the linear matrix inequalities, the fault estimation of sensor in quadrotor UAV attitude control system is obtained. The fault interval and algorithm design can be obtained by the analysis of zonotopes. Based on the MATLAB simulation platform, taking the quadrotor UAV attitude control sensor failure system as the object, the feasibility and effectiveness of the interval estimation proposed in the study are verified.

Key words: quadrotor UAV, zonotopes, state obverser, sensor fault, linear matrix inequalities, discrete-time linear system, descriptor system, set membership estimation

中图分类号:

TP273

杨雨薇,宋芳,章伟. 四旋翼无人机姿态控制传感器故障的区间估计[J]. 电子科技, 2021, 34(10): 56-62.

YANG Yuwei,SONG Fang,ZHANG Wei. Interval Estimation of Sensor Fault for Attitude Control System of UAV[J]. Electronic Science and Technology, 2021, 34(10): 56-62.

图/表 3

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符号	名称	数值
K_tc	旋翼顺时针力矩系数/N·m·V^-1	0.003 6
K_tn	旋翼逆时针力矩系数/N·m·V^-1	-0.003 6
K_f	旋翼升力系数/N·V	0.118 8
l	旋转中心与旋翼中心的距离/m	0.197 0
J_θ	俯仰轴转动惯量/kg·m²	0.110 0
J_φ	翻转轴转动惯量/kg·m²	0.005 2
J_ψ	偏航轴转动惯量/kg·m²	0.005 2