A fault tolerant control method of tiltable six-rotor unmanned aerial vehicle
The attitude and altitude of conventional six-rotor unmanned aerial vehicle(six-rotor UAV)cannot be fully controlled under the failures of one of its rotors.Adopting a degraded control strategy will make the UAV lose the ability of static hovering.Aiming at this problem,a fault tolerant control method for tiltable rotors is proposed.Based on the classic rotor structure layout,one of the rotors is designed as tiltable structure.Force and moment can be balanced after any rotor failure by the change of the tilt angle and the control allocation.The attainable moment set of six-rotor UAV is obtained by using the linear programming method,and the motor saturation is analyzed at the same time to determine the optimal tilt angle after different rotor failures.A flight test platform is built for comparison and verification.The experimental results show that the proposed method has good fault tolerance and robustness,and can guarantee the stable flight and landing of the six-rotor UAV under fault conditions.
万方数据
维普
