基于多模型混杂控制系统理论的无人机故障容错控制研究

项目名称： 基于多模型混杂控制系统理论的无人机故障容错控制研究

项目编号： No.61304108

项目类型： 青年科学基金项目

立项/批准年度： 2014

项目学科： 自动化技术、计算机技术

项目作者： 夏红伟

作者单位： 哈尔滨工业大学

项目金额： 24万元

中文摘要： 故障容错控制是保证无人机长时间安全可靠运行的关键，现已成为无人机技术研究的热点之一。尽管传统线性系统的容错控制理论的研究已趋于成熟，如特征空间配置法、模型参考自适应法、多模型交互法等，但由于无人机系统存在高度非线性、参数不确定性以及时变性，因此现有的线性系统的容错控制理论难以应用到实际无人机系统中。本课题将基于无人机容错控制的已有成果和一些尚未解决的问题，研究基于参数切换区域分割技术的故障描述和建模方法，建立无人机的多模型混杂控制系统模型和故障模型，构建故障模型集合，并研究能够综合设计故障诊断环节和故障容错环节的方法，优化设计无人机故障容错控制器，提高系统的综合性能。研究成果拟形成基于多模型混杂控制系统的无人机故障容错控制理论体系及建立相应的仿真实验平台。

中文关键词： 容错控制；混杂控制系统；多模型；无人机；模糊系统

英文摘要： Fault tolerant control is the key technique to ensure unmanned aerial vehicle (UAV) running safely and reliably for long term and it has been one of the most attractive directions in the UAV research. Although the studies on fault tolerant control theory of traditional linear systems have been well developed, such as eigenstructure assignment approach, model reference adaptive control approach, interactive multiple model approach, etc, the existing fault tolerant control theories on linear systems are difficult to apply to actual UAV systems, due to high nonlinearity, parameter uncertainty and time-varying characteristics of UAV systems. Based on the existing research work and some unsettled problems of UAV fault tolerant control, this project researches issues as, fault description and modeling methods based on parameter switching and regional segmentation technology, UAV multi-model hybrid control system modeling and fault modeling, fault model sets construction, design with synthesization of fault diagnosis section and fault tolerance section , and fault tolerance controllers design, aiming to promote the comprehensive performance of systems. The project aims at constructing a theoretical system for UAV fault tolerant control based on multi-model hybrid control systems, and its corresponding simulation platfo

英文关键词： fault tolerant control；hybrid control system；multi model；unmanned aerial vehicle；fuzzy system