论文标题
多电动无人机的容错控制驾驶室外航班
Fault Tolerant Control of Multirotor UAV for Piloted Outdoor Flights
论文作者
论文摘要
本文旨在开发容错控制（FTC）体系结构，对于多电动无人机的损坏执行器的情况下，可以根据其可实现的虚拟控制集（AVC）在多电流平台上应用。该研究的目的是研究AVC并确定限制多动物无人机在执行器故障后的可控性的参数。根据对可控性的研究，提出了FTC的要求。实施的控制解决方案将在仅使用板载传感器的室内和室外飞行的四型，英特尔射击星无人机平台上进行测试。态度控制解决方案是通过降低的态度控制来实现的，并使用基于伪内的模型反转执行控制分配，并具有顺序的去饱和度以确保优先级。该模型是使用离线普通最小二乘常规识别的，随后使用递归最小二乘法更新。实施了一个离线校准例程，以纠正IMU偏移距离旋转中心的距离，以纠正四型旋转失败后高速自旋引起的加速度计偏置。
This paper aims to develop a Fault Tolerant Control (FTC) architecture, for the case of a damaged actuator for a multirotor UAV that can be applied across multirotor platforms based on their Attainable Virtual Control Set (AVCS). The research is aimed to study the AVCS and identify the parameters that limit the controllability of multirotor UAV post an actuator failure. Based on the study of controllability, the requirements for a FTC is laid out. The implemented control solution will be tested on a quadrotor, Intel Shooting Star UAV platform in indoor and outdoor flights using only the onboard sensors. The attitude control solution is implemented with reduced attitude control, and the control allocation is performed with pseudo-inverse based model inversion with sequential desaturation to ensure tilt priority. The model is identified with an offline Ordinary Least Squares routine and subsequently updated with the Recursive Least Squares method. An offline calibration routine is implemented to correct IMU offset distance from the centre of rotation to correct for accelerometer bias caused by the high-speed spin after failure in a quadrotor.
