Journal of Jilin University(Engineering and Technology Edition) ›› 2023, Vol. 53 ›› Issue (3): 841-852.doi: 10.13229/j.cnki.jdxbgxb20221249

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Life prediction and self⁃maintenance method of quadrotor unmanned aerial vehicle

Fu-yuan SHEN1,2(),Wei LI1,2(),Dong-nian JIANG1,2   

  1. 1.College of Electrical and Information Engineering，Lanzhou University of Technology，Lanzhou 730050，China
    2.Key Laboratory of Gansu Advanced Control for Industrial Processes，Lanzhou University of Technology，Lanzhou 730050，China
  • Received:2022-09-27 Online:2023-03-01 Published:2023-03-29
  • Contact: Wei LI E-mail:shenfy@lut.edu.cn;liwei@lut.edu.cn

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Abstract:

A model predictive control autonomous maintenance strategy based on risk evaluation function was proposed to address the remaining life shortening problem caused by actuator degradation during the operation of quadrotor unmanned aerial vehicle(UAV）. Firstly， the architecture of autonomous maintenance system was constructed through in-depth analysis of the control mechanism of the UAV. Secondly， based on the definition of the system failure threshold， the analytical solution of the remaining life distribution of the UAV under hovering condition was obtained， and the values of Q and R elements of the prediction weight matrix of the model were adaptively modified based on the risk evaluation results to realize autonomous maintenance， so as to achieve a better compromise between UAV performance and life. Finally， the simulation experiment results show that the proposed autonomous maintenance strategy can extend the remaining life of the UAV with implied actuator degradation by 616 min and maintain better airframe performance.

Key words: control theory and control science, quadrotor UAV, actuator degradation, residual life prediction, model predictive control, online self-mainte

CLC Number: 

  • TP273

Fig.1

Structural diagram of quadrotor UAV"

Fig.2

Closed-loop system block diagram of quadrotor UAV"

Fig.3

Autonomous maintenance structure of quadrotor UAV"

Fig.4

Schematic diagram of actuator degradation process"

Fig.5

Curve of risk evaluation function Jrisk"

Fig.6

Schematic diagram of Δq and Δr adjusted with risk function Jrisk"

Fig.7

Flow chart of life extension control algorithm of quadrotor UAV based on MPC"

Fig.8

Actuator degradation value and estimated value"

Fig.9

Comparison of estimation error with measurement"

Fig.10

Response curve of quadrotor UAV when the actuator degenerates"

Fig.11

Distribution of residual life of quadrotor UAV"

Fig.12

Variation curve of risk function Jrisk"

Fig.13

Regulation curve about Δq,Δr"

Fig.14

Q、R adjustment curve for life extension control"

Fig.15

Distribution of residual life of quadrotor UAV after life extension"

Table 1

Failure threshold and body life under different life extension strategies"

方法失效阈值机体寿命
未延寿6.85931313
文献［25］6.95701914
本文7.56181929

Table 2

ess performance comparison between unextended and different life extended strategies"

方法预测时刻/min
1300150017001900
未延寿2.0946123.6915146.1453173.0268
文献［25］2.72012.99×10-42.22×10-56.5776
本文1.62761.95×10-43.57×10-70.3058
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