小型无人机容错控制系统设计

发布时间：2019-01-11 12:43

【摘要】：多旋翼小型无人机,越来越多的使用在工业级和消费级的领域,随着世界各国对民用航空低空的开放,对低空航空器的限制日益严格,对其安全性要求也日益提高。此类小型无人机安全性主要包括两个方面:一方面是严格管理操作人员,提高其操作能力来保证无人机工作时的安全性;另一方面是采用性能稳定的控制系统,对控制系统进行容错设计和其他安全性设计来保证无人机系统的可靠性和安全性。本文针对小型六旋翼无人机的控制系统进行了容错设计来提高其控制系统的可靠性和安全性。主要包括传感器容错设计、控制器容错设计和执行机构容错设计,对其容错的原理进行分析,将容错系统与非容错系统的可靠性进行了对比,并采用消费级电子器件完成了容错控制系统原理件设计。根据小型多旋翼无人机的特点,对传感器采用物理余度方法进行容错设计,简化设计以利于工程实现。对控制器,通过选择具有看门狗设计和电源监控设计的微控制器,结合软件功能实现故障检测与隔离。对执行机构即旋翼驱动系统,采用基于模型的故障检测方法进行故障检测,并结合多模式切换的控制律设计,实现执行机构故障的容错控制。本文建立了六旋翼无人机的详细模型,并完成了控制算法设计。以此为基础,重点针对旋翼控制的故障进行了故障模式的分析,实现了模式切换控制律设计和仿真。设计结果表明,以现有微机电技术和微控制器技术基础,对小型无人机控制系统进行容错设计,在略微提高系统成本和重量的情况下,很大提高小型无人机系统可靠性,而且工程实现可行性很高。
[Abstract]:Multi-rotor small UAVs are more and more used in industrial and consumer fields. With the opening of civil aviation in the world, the restrictions on low-altitude aircraft are becoming more and more strict, and the safety requirements of low-altitude UAVs are also increasing. The safety of this kind of small UAV mainly includes two aspects: on the one hand, strictly manage the operators and improve their operational ability to ensure the safety of the UAV when it is in operation; On the other hand, the reliability and safety of UAV system are ensured by the fault-tolerant design and other security design of the control system with stable performance. In this paper, a fault-tolerant design for the control system of a small six-rotor UAV is presented to improve the reliability and security of the control system. It mainly includes sensor fault-tolerant design, controller fault-tolerant design and actuator fault-tolerant design. The principle of fault tolerance is analyzed, and the reliability of fault-tolerant system and non-fault-tolerant system are compared. The principle of fault-tolerant control system is designed by using consumer electronic devices. According to the characteristics of the small multi-rotor UAV, the sensor is designed by the method of physical redundancy, which simplifies the design to facilitate the engineering implementation. For the controller, the fault detection and isolation are realized by selecting the microcontroller with watchdog design and power monitoring design. The fault detection method based on model is used to detect the actuator (rotor drive system) and the control law of multi-mode switching is designed to realize the fault tolerant control of the actuator. In this paper, the detailed model of six-rotor UAV is established, and the control algorithm is designed. On this basis, the fault mode of rotor control is analyzed, and the mode switching control law is designed and simulated. The design results show that, based on the existing micro-electromechanical technology and microcontroller technology, the fault tolerant design of the small UAV control system is carried out, and the reliability of the small UAV system is greatly improved when the cost and weight of the system are slightly increased. And the feasibility of the project is very high.
【学位授予单位】：电子科技大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：V249.1

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