eVTOL飞行器全类型执行器故障容错控制方法

doi:10.16182/j.issn1004731x.joss.25-0947

摘要/Abstract

摘要：

针对多旋翼eVTOL执行器全类型故障特别是非线性失真问题，提出一种新的容错控制方法。在旋翼转速层建立故障函数，并通过旋翼冗余分配，设计动态鲁棒非奇异快速积分终端滑模结合高阶有限时间干扰观测器的容错控制算法实现容错控制。改进非奇异快速积分终端滑模算法，通过动态面构建包含执行器故障及其导数的动态系统，实现系统有限时间内收敛，避免了控制器的奇异问题与颤振问题；高阶有限时间干扰观测器对不确定项及其高阶导数观测与补偿。仿真结果表明：该容错控制方法解决了执行器非线性映射失真问题，应对单旋翼、多旋翼甚至同侧多旋翼执行器的严重故障，甚至在传感器、执行器和外部干扰组合故障下也能实现高精度的轨迹跟踪性能。

关键词: 多旋翼eVTOL, 执行器故障, 非线性失真, 容错控制, 积分终端滑模, 干扰观测器

Abstract:

To address all-type actuator faults, especially nonlinear distortion issues, in multi-rotor eVTOL aircraft, a novel fault-tolerant control method was proposed. A fault function was established at the rotor speed level, and a fault-tolerant control algorithm combining dynamic robust nonsingular fast integral terminal sliding mode with a high-order finite-time disturbance observer was designed to achieve fault-tolerant control through rotor redundancy allocation. The nonsingular fast integral terminal sliding mode algorithm was improved, and a dynamic system containing actuator faults and their derivatives was constructed via a dynamic surface to achieve system convergence within finite time, avoiding the singularity and chattering problems of the controller; the high-order finite-time disturbance observer observed and compensated for uncertainties and their higher-order derivatives. Simulation results indicate that this fault-tolerant control method solves the problem of actuator's nonlinear mapping distortion, handles severe faults in single-rotor, multi-rotor, and even same-side multi-rotor actuators, and achieves high-precision trajectory tracking performance even under combined faults of sensors, actuators, and external disturbances.

Key words: multi-rotor eVTOL, actuator fault, nonlinear distortion, fault-tolerant control, integral terminal sliding mode, disturbance observer

中图分类号:

TP273

王娟,李国瑞,樊智勇等 . eVTOL飞行器全类型执行器故障容错控制方法[J]. 系统仿真学报, 2026, 38(8): 2250-2264.

Wang Juan,Li Guorui,Fan Zhiyong,et al . Fault-tolerant Control Method for All-type Actuator Faults of eVTOL Aircraft[J]. Journal of System Simulation, 2026, 38(8): 2250-2264.

图/表 15

图1

图2

表1

eVTOL模型基本参数扼要

符号	参数
$m$ /kg	220
$d$ /m	1.65
$R$ /m	0.6
$C m$	0.018 5 $T / ρ π Ω 2 R 4$
$I x, y / (k g / m 2)$	164
$I z / (k g / m 2)$	281
$S / m 2$	1.13
$C T$	0.011 6 $P / ρ π Ω 3 R 5$

表1

表2

控制器与观测器参数

符号	参数	符号	参数
$a 1$	210	$a 3$	10
$a 2$	150	$a 4$	10
$b 1$	80	$b 2$	40
$ξ 1$	30	$ξ 3$	20
$ξ 2$	0.01	$ξ 4$	0.01
$L$	20

表2

图3

图4

图5

图6

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图8

图9

图10

图11

图12

图13

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