Research on Fault-tolerant Control based on Single Rotor Failure of a Six Rotor Drone
The six rotor drone is an aircraft powered by six electric motors.Based on the structural analysis and control strategy research of the six rotor drone,the control law of lift and three-axis torque was designed by referring to a certain unmanned helicopter.The state of single rotor stuck or complete failure was analyzed,and the fault solution was put forward.To ensure stable structure un-der single rotor failure,the diagonal rotor was no longer assigned work tasks when the rotor stopped working,and the faulty aircraft was reconstructed into a symmetrical four rotor structure.And the active fault-tolerant control was proposed,four models were calculated for the normal operation of six-rotor and the failure of each rotor.Four distribution matrices corresponding to each model were presented.The distribution matrix and system model were switched in real time according to the ro-tor failure state,and the lift force of the UAV was redistributed to achieve smooth flight under the ro-tor failure state.A mathematical model was given,and the reliability of the algorithms verified by Matlab/Simulink simulation.
the six rotor dronedouble closed-loop structurefault-tolerant control
万方数据
维普
