Active Fault Tolerant Control of Quad-Rotor Helicopter

Transcription

1 Professor : Dr. Youmin Zhang Sara Ghasemi Farzad Baghernezhad //

2 Contents Quad-rotor Model Fault Detection PID Controller Sliding Mode Controller Comparison Conclusion /7

3 Quad-rotor Model 6 degrees of freedom body 4 rotor 4 controllable variables 3/7 4/8

4 Quad-rotor Model Quad-rotor dynamics X. Zhang, Y. Zhang, Fault Tolerant Control for Quad-rotor UAV by Employing Lyapunov- based Adaptive Control Approach, AIAA Guidance, Navigation, and Control Conference, Toronto, Canada, Aug.. 4/7

5 Fault Detection degraded performance Normal system Fault occurs Unacceptable performance danger failure M. Witczak, Modelling and Estimation Strategies for Fault Diagnosis of Non-Linear Systems, Berlin : Springer, 7. 5/7

6 Fault Detection Residual Generation oextended Kalman Filter (EKF) Residual Evaluation othreshold test on the residual value (limit checking) 6/7

7 Fault Detection: Residual Generation System Extended equation Kalman in Filter state space form 7/7 7

8 Fault detection: Residual Evaluation Time window iterations Threshold 8/7 8

9 PID Controller 3 4 9/7

10 teta Controller phi Controller psi Controller z rotor output rotor rotor output output altitude altitude pitch yaw altitude roll error error PID Controller.5 reference reference altitude pitch real real altitude pitch yaw roll error altitude pitch error.5 reference roll.5 real roll reference yaw real yaw phi Z Controller Controller 8 teta psi Controller rotor output rotor output rotor output.95 rotor output PID controller for quad-rotor helicopter /7

11 rotor output rotor output residual residual real and desired altitude real and desired altitude error PID and Reconfigured PID Controller desired altitude.5 reconfigured PID PID error 3% PID actuator.loss PID PID 5% error actuator loss Max Error after fault Reconfigured -.5 Time Max Error after fault Reconfigured Time reconfigured PID T PID Reconfigured PID PID reconfigured PID PID reconfigured PID desired altitude PID T % 3% 3% Loss Loss of all of rotors T reconfigured PID error PID error residual residual /7

12 Sliding Mode Controller D. Lee, H. J. Kim and S. Sastry. Feedback Linearization vs. Adaptive Sliding Mode Control for a Quadrotor Helicopter. International Journal of Control, Automation, and Systems 9, PP /7

13 each rotor output altitude altitude Sliding Mode Controller reference altitude real altitude.95 reference altitude real altitude rotor output sliding mode control of quad-rotor using sign function 3/7

14 each rotor output sat(s) sat(s) altitude sat(s) altitude sat(s) Sliding Mode Control reference altitude real altitude sat(s) for phis= reference altitude real altitude sat(s) for phis= S sat(s) for phis=. 5 5 rotor output S sat(s) for phis= S sliding mode control of quad-rotor using saturation function S Ali A. Chamseddine, J. Koshkouei and H. Noura. Keith J. Control Burnham. and Control Sensor of Fault DC Tolerance Motors Using of Vehicle Proportional Active Integral Suspension. Sliding Mode. IEEE Transactions Control Theory on Control and Applications Systems Technology, Centre, Coventry Vol. 6, University, NO. 3, May Coventry 8, CV pp. 46-5FB, 433. UK /7

15 error real and desired altitude Comparison Controller Reconfigured. PID 3% actuator loss 5% actuator loss Max Error after fault Reconfigured Time desired altitude Integral SLM reconfigured PID Max Error after fault Reconfigured Time reconfigured PID error. 5.9 Integral.47 SLM error 7. Integrated SLM Reconfigured PID and integral sliding mode controller under 5 % actuator fault 5/7

16 Conclusion Quad-rotor modeled PID and Sliding mode controller implemented PID controller performance in fault tolerant improved by Extended Kalman filter and gain scheduling Sliding mode performance improved by adding integral to sliding surface Integral sliding mode seems the best between other methods 6/7

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