无人机桨叶损伤的在线模型估计新方法

Highly complicated environments usually lead to blade impairment of unmanned rotor aerial vehicle,causing deleterious impact on control performance and stability, even inducing catastrophic consequences. Online estimate and reestablishment of the dynamic model in the presence of blade impairment are solid foundations of ensuring the stability of the post-fault unmanned rotor aerial vehicle. Nevertheless, since the blade impairments are inside the unmanned rotor aerial vehicle, its low visibility renders the typical observer method unable to achieve estimation. This study presents a novel penetrating disturbance observer that can estimate the blade damage via the establishment of a penetrating function and the projection of the blade damage. Moreover, the convergence of estimation error is verified and the model uncertainty is quantitatively analyzed. The hardware-in-the-loop platform based on a quadrotor unmanned aerial vehicle is established to validate the effectiveness of the proposed method. The experiment results exemplify that the developed method can estimate the disturbance induced by blade impairments, overcoming the difficulty of estimating torque under the condition of blade impairment, thereby achieving the model recognition.