| Helicopter has many obvious features, for example hovering and flying at a low-velocity and low-altitude. Especially, it is able to take off and land vertically in a small area. These characteristics make the helicopter enjoy the vast potential for future development, which has been widely applied in both civilian and military area. The flight control systems of helicopter must have good performances in the fault tolerance as flight control has high demands on the safety and reliability of the flight. The study aims to design controllers which can not only make the fault system operate in a stable way but also grant the system certain performance indicators when faults occur with actuators.After the brief introduction of the basic theory and the design ideas of the flight controller, the thesis established the mathematical model on the basis of the mechanism model of 3-DOF helicopter and built a unified actuator fault model against the actuator fault. The design method is presented for linear uncertain systems with circular pole index, guaranteed performance, steady variance index and H-infinity constraints. Furthermore, the thesis compared the control effect of each controller and also compared the control effect of fault-tolerant controller with general controller.In this thesis, the instrument of Matlab/Simulink is used to verify the validity of algorithm. Simulation test of various algorithms is firstly carried out and then the comparisons of simulation results of each controller are made. The results show that fault-tolerant controller has the better control effect than general controller and that multi-objective fault-tolerant controller is of the best control effect. The results also indicate that guaranteed performance index could control the value of feedback gain and reduce the consumption of energy. Furthermore, state variance index is able to reduce steady-state error and H-infinity performance index has the property of good anti-interference. |
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