小型无人机舵面故障的控制重构设计

小型无人机一般采用单余度设计，舵面故障后重构控制只能根据系统解析冗余进行设计，传统辨识方法复杂而且往往不能满足无人机重构控制的实时性。对由于舵面故障多样性引起的无人机参数大范围跳变进行分析，采用基于线性模型的方法离线重构控制器参数，实际飞行中在线自适应选择控制律，并针对存在大扰动的重构过程设计了动态补偿方案，保证无人机在故障发生后重构完成前的过渡过程的安全性。仿真实验表明，该方法能满足无人机舵面故障时控制律重构的实时性要求，保证过渡过程平稳，而且基于线性模型的控制器设计方法简便，工程实用性强。

Control reconfiguration design for control surface fault of small unmanned aerial vehicle

Unmanned Aerial Vehicle（UAV） is designed without redundancy.It can be reconfigured control law only based on analytical redundancy when there are faults.However,the traditional identification methods often fail to meet real-time requirements of UAV reconfiguration control and are too complex.This paper analyzes the large-scale jump parameters of UAV caused by diversity of control surface failures.The controller reconstruction is designed off-line and selected adaptively online in actual flight.Dynamic compensation plan is proposed to ensure safety of aircraft when there is great disturbance for the reconstruction process.Simulation results show that the method can meet the real-time requirements of UAV with control surface failures and ensure a smooth transition.Moreover,the controller reconfiguration method is based on linear models,which can be well used in practical engineering.