Research On Active Fault Tolerant Control Method For Quadrotor UAV

The Quadrotor UAV is a multi-rotor aircraft that provides lift from four rotors and can take off and land vertically.It is widely used in both military and civilian applications.With the development of technology,people have higher and higher requirements for the safety and reliability of the Quadrotor UAV during flight,because the actuators and sensors of the quadrotor UAV are prone to accidents,the system Performance indicators do not meet the expectations of the operator.Based on this,this article designs the fault diagnosis and fault-tolerant control strategy of the Quadrotor UAV to ensure that the system has certain fault-tolerant control ability under fault conditions,thus improving the safety and reliability of the system.The main research work is as follows:1)It is difficult to obtain the optimal problem for the tuning of the PID controller of the quadrotor UAV by the traditional method.The chaotic particle swarm optimization algorithm is introduced into the parameter optimization process of the quadrotor UAV controller,and add a fault handling mechanism to the controller,when the UAV actuator fails,it can effectively perform adaptive fault-tolerant control to ensure its normal flight2)In order to compare the effect of chaotic particle swarm optimization on the parameters optimization of quadrotor UAV,the genetic algorithm is used to optimize the PID parameters,so that the UAV can fly normally under the optimal parameters,and and for fault failure,five fault-tolerant controller groups based on interval faults are designed.during the flight of the quadrotor UAV,the DBN and softmax are used for online diagnosis of its status,so that the corresponding controller is called to process the state of the drone.3)For the actuator partial failure fault and sensor deviation of the Quadrotor UAV,the second-order Kalman filter is used to estimate the state,actuator fault and sensor error information in real time.When the fault reorganization strategy is adopted,the corresponding fault-tolerant controller is scheduled online for the actuator failure fault;to further improve the fault-tolerant efficiency,the fault reconstruction strategy is adopted,for actuator the partial failure fault and sensor error information of the Quadrotor UAV,the controller compensates for actuator failure Simultaneously,the sensor self-adjustment function is used to adjust the deviation,so that the Quadrotor UAV can fly more stably and reliably.4)For the failure of the four-rotor UAV actuator,the design method of the fault reconstruction controller is further studied.Firstly,the controller with no fault or slight failure of the actuator is designed by offline method.Then,during the flight of the quadrotor UAV,the fault information is estimated online by least squares method.When the fault size exceeds the given threshold,The controller is compensated to eliminate the effects of unknown faults on the body itself.Based on the above designed method,this article simulates its feasibility and effectiveness on the matlab simulation platform.The results show that the parameters of the quadrotor UAV PID controller can be better optimized and fault-tolerant control of the active fault-tolerant controller with the above design when the actuator has a partial failure or sensor deviation...