The Research Of Fault-tolerant Control Based On Qball-X4 Quad-rotor UAV

The Quad-rotor aircraft is a kind of rotor remote autonomous vehicles which can launch and land vertically. It has important value of military and civilian because of its novel appearance and remarkable performance. The Quad-rotor flying system has the characteristics of nonlinear, strong coupling and uncertainty of the mathematical model, and it has the influence of unknown disturbances when it is working, which leads to the higher requirements of Quad-rotor flight motion control system design. Therefore, the flight control system with strong stability and robustness is necessary to ensure the quality and safety of the flight. However, due to strong turbulence, birds and other unpredictable and uncontrollable external factors, the helicopter’s flight qualities and security may be seriously affected and even degraded. Therefore, the study of fault-tolerance problem for helicopter control system is typical required and has important significance. The main purpose of this thesis is to design a fault-tolerant controller and realize the fault-tolerant control on the experimental platform of Qball-X4 Quad-rotor UAV.(1) Introduce the background, significance of the selected topic, and the whole Quanser unmanned control system, the Qball-X4 Quad-rotor UAV, Qbot ground mobile robot and OptiTrack positioning system are mainly included.(2) The overall structure of the Qball-X4 was introduced, force analysis and moment analysis were carried out on the Qball-X4, and the mathematical model of Qball-X4 was deduced by Newton’s motion laws and dynamics of Euler equation based on the theory of system homogeneous coordinate transformation matrix. Then the linear system model was achieved by simplifying the proposed nonlinear system model.(3) Several active fault tolerant control problems of Quad-rotor helicopter was studied by linear matrix inequalities (LMI) toolbox based on H-infinity robust control theories with Quad-rotor aircraft as the main application object. Design the controller, and do the simulation.(4) Gain scheduling PID controller is designed, the simulation experiments on different motor fault conditions and different degrees of failure condition was done. Adaptive fault-tolerant PID controller was designed, and a Simulink model was built to simulate from a situation of no trouble to situations of different faults to the control system. Finally hardware-in-the-loop simulation is done.