论文标题
带电机故障的四轮驱动器的故障安全控制器架构
Fail-Safe Controller Architectures for Quadcopter with Motor Failures
论文作者
论文摘要
在运动故障发生，模拟和测试的情况下，一种故障安全算法。对于实用的故障安全飞行，四轮驱动器可能仅与三个或两个相对的螺旋桨飞行。两个螺旋桨架构的高度由独立于内部和外部控制器的PID控制器维护。将螺旋桨力偏差的PID控制器扩大到了三个螺旋桨体系结构的内部控制器上。两种体系结构都将LQR用于内部姿态控制器和潮湿的二阶外部控制器，该控制器将沿水平坐标的误差归零。研究了这些体系结构的限制性，稳定性，鲁棒性和对称性，相对于其输出限制，初始条件和控制器频率进行了研究。尽管三个螺旋桨体系结构允许分配螺旋桨力，但两螺旋桨体系结构效率更高，健壮和稳定。两个螺旋桨体系结构也可以建模不确定性。结果表明，在故障安全模式下运行时，较高的偏航率会导致更大的稳定性。
A fail-safe algorithm in case of motor failure was developed, simulated, and tested. For practical fail-safe flight, the quadcopter may fly with only three or two opposing propellers. Altitude for two-propeller architecture was maintained by a PID controller that is independent from the inner and outer controllers. A PID controller on propeller force deviations from equilibrium was augmented to the inner controller of the three-propeller architecture. Both architectures used LQR for the inner attitude controller and a damped second order outer controller that zeroes the error along the horizontal coordinates. The restrictiveness, stability, robustness, and symmetry of these architectures were investigated with respect to their output limits, initial conditions, and controller frequencies. Although the three-propeller architecture allows for distribution of propeller forces, the two-propeller architecture is more efficient, robust, and stable. The two-propeller architecture is also robust to model uncertainties. It was shown that higher yaw rate leads to greater stability when operating in fail-safe mode.
