论文标题
在执行器完全失败下
Full Attitude Intelligent Controller Design of a Heliquad under Complete Failure of an Actuator
论文作者
论文摘要
在本文中，我们设计了可靠的Heliquad，并开发了一个智能控制器来处理一个执行器的完全故障。 Heliquad是一种类似于四轮驱动器的多旋风，中心有四个执行器对角线。每个执行器都有两个控制输入；第一个输入改变了螺旋桨叶片集体俯仰（也称为变量螺距），而其他输入会改变旋转速度。为了可靠的操作和偏航控制的高扭矩特性需求，使用倾斜的机翼来设计螺旋桨叶片。基于神经网络的控制分配旨在即使在一个执行器的完全损失下，也可以提供完整的控制权限。基于非线性季化的外回路位置控制，具有用于态度控制的比例衍生内环和基于神经网络的控制分配，用于控制器设计。提出的控制器和Heliquad Designs性能是使用循环模拟来评估的，以跟踪失败下的位置参考命令。结果清楚地表明，带有智能控制器的直升机即使在一个执行器的完全损失下，也可以提供必要的跟踪性能。
In this paper, we design a reliable Heliquad and develop an intelligent controller to handle one actuators complete failure. Heliquad is a multi-copter similar to Quadcopter, with four actuators diagonally symmetric from the center. Each actuator has two control inputs; the first input changes the propeller blades collective pitch (also called variable pitch), and the other input changes the rotation speed. For reliable operation and high torque characteristic requirement for yaw control, a cambered airfoil is used to design propeller blades. A neural network-based control allocation is designed to provide complete control authority even under a complete loss of one actuator. Nonlinear quaternion based outer loop position control, with proportional-derivative inner loop for attitude control and neural network-based control allocation is used in controller design. The proposed controller and Heliquad designs performance is evaluated using a software-in-loop simulation to track the position reference command under failure. The results clearly indicate that the Heliquad with an intelligent controller provides necessary tracking performance even under a complete loss of one actuator.
