發(fā)布時(shí)間：2019-01-11 12:43

【摘要】：多旋翼小型無人機(jī),越來越多的使用在工業(yè)級(jí)和消費(fèi)級(jí)的領(lǐng)域,隨著世界各國(guó)對(duì)民用航空低空的開放,對(duì)低空航空器的限制日益嚴(yán)格,對(duì)其安全性要求也日益提高。此類小型無人機(jī)安全性主要包括兩個(gè)方面:一方面是嚴(yán)格管理操作人員,提高其操作能力來保證無人機(jī)工作時(shí)的安全性;另一方面是采用性能穩(wěn)定的控制系統(tǒng),對(duì)控制系統(tǒng)進(jìn)行容錯(cuò)設(shè)計(jì)和其他安全性設(shè)計(jì)來保證無人機(jī)系統(tǒng)的可靠性和安全性。本文針對(duì)小型六旋翼無人機(jī)的控制系統(tǒng)進(jìn)行了容錯(cuò)設(shè)計(jì)來提高其控制系統(tǒng)的可靠性和安全性。主要包括傳感器容錯(cuò)設(shè)計(jì)、控制器容錯(cuò)設(shè)計(jì)和執(zhí)行機(jī)構(gòu)容錯(cuò)設(shè)計(jì),對(duì)其容錯(cuò)的原理進(jìn)行分析,將容錯(cuò)系統(tǒng)與非容錯(cuò)系統(tǒng)的可靠性進(jìn)行了對(duì)比,并采用消費(fèi)級(jí)電子器件完成了容錯(cuò)控制系統(tǒng)原理件設(shè)計(jì)。根據(jù)小型多旋翼無人機(jī)的特點(diǎn),對(duì)傳感器采用物理余度方法進(jìn)行容錯(cuò)設(shè)計(jì),簡(jiǎn)化設(shè)計(jì)以利于工程實(shí)現(xiàn)。對(duì)控制器,通過選擇具有看門狗設(shè)計(jì)和電源監(jiān)控設(shè)計(jì)的微控制器,結(jié)合軟件功能實(shí)現(xiàn)故障檢測(cè)與隔離。對(duì)執(zhí)行機(jī)構(gòu)即旋翼驅(qū)動(dòng)系統(tǒng),采用基于模型的故障檢測(cè)方法進(jìn)行故障檢測(cè),并結(jié)合多模式切換的控制律設(shè)計(jì),實(shí)現(xiàn)執(zhí)行機(jī)構(gòu)故障的容錯(cuò)控制。本文建立了六旋翼無人機(jī)的詳細(xì)模型,并完成了控制算法設(shè)計(jì)。以此為基礎(chǔ),重點(diǎn)針對(duì)旋翼控制的故障進(jìn)行了故障模式的分析,實(shí)現(xiàn)了模式切換控制律設(shè)計(jì)和仿真。設(shè)計(jì)結(jié)果表明,以現(xiàn)有微機(jī)電技術(shù)和微控制器技術(shù)基礎(chǔ),對(duì)小型無人機(jī)控制系統(tǒng)進(jìn)行容錯(cuò)設(shè)計(jì),在略微提高系統(tǒng)成本和重量的情況下,很大提高小型無人機(jī)系統(tǒng)可靠性,而且工程實(shí)現(xiàn)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.
【學(xué)位授予單位】：電子科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類號(hào)】：V249.1

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