A Longitudinal Control Method for Micro Unmanned Aerial Vehicle with Random Delay in Variable Distribution Network

Abstract

The invention discloses a microminiature unmanned aerial vehicle longitudinal control method with random delay of a distributed network, and belongs to the field of flying control technology. The method includes firstly setting up an unmanned aerial vehicle longitudinal system model and designing a flying control system without network delay, secondly carrying out random robustness analysis and design on the flying control system on the condition of different network random delay, ensuring a gain scheduling strategy of the flying control system, and lastly carrying out closed-loop six-free-degree freedom nonlinear Monte-Carlo simulation verification. According to the control method, deterioration of quality of the flying control system due to network delay is relieved, and stability of the distributed type system can be strengthened. Through utilization of the random robust analysis and design method and the gain scheduling strategy based on linear interpolation, the obtained control has the advantages of being simple, and facilitating engineering realization. Control quality of an original system can be well maintained on the condition of changes of large network delay.

Description

technical field [0001] The invention relates to the longitudinal control of micro unmanned aerial vehicle with variable distribution network random delay, belongs to the technical field of flight control, and in particular relates to a longitudinal control method of micro small unmanned aerial vehicle with variable distribution network random delay. Background technique [0002] At present, as many as 30 countries have invested a lot of manpower and financial resources in the research and production of drones. After two decades of development, this technology has become relatively mature and has played a role in various military and civilian fields. However, there are some problems when a single UAV performs tasks. For example, a single UAV may be affected by the number of sensors. Due to limitations, the target area cannot be observed in all directions from multiple angles. When faced with a large-scale search task, it cannot effectively cover the entire search area; The e...

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Problems solved by technology

[0005] The purpose of the present invention is to solve the above problems, aiming at the inevitable wireless ad hoc network random delay problem in the formation flight process of unmanned aerial vehicles, introduces a random robust analysis and design method, designs the control law of the unmanned aerial vehicle, and solves the problem The traditional linear quadratic regulator (LQR) control has the shortcomings of high requirements for communication quality and poor robustness, which reduces the requirements for the update rate of formation wireless data links; according to different network random delays, a linear-based The interpolation gain scheduling strategy broadens the control range of the linear control system, so that the control quality of the aircraft can still meet the requirements in the presence of large network random delay changes

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