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Method for nonlinear control over unmanned helicopter posture and verification platform

A non-linear control, unmanned helicopter technology, applied in attitude control, general control system, control/regulation system, etc., can solve the problems of staying, unknown availability of actual flight, and high degree of system model dependence

Active Publication Date: 2014-06-25
TIANJIN UNIV
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Problems solved by technology

However, most of them are still in simulation experiments, and have a high degree of dependence on the system model, and it is still unknown whether they are available for actual flight

Method used

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  • Method for nonlinear control over unmanned helicopter posture and verification platform
  • Method for nonlinear control over unmanned helicopter posture and verification platform
  • Method for nonlinear control over unmanned helicopter posture and verification platform

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Embodiment Construction

[0086] Aiming at the problem of attitude control of unmanned helicopters, the sweep frequency identification of the pitch, roll and yaw channels is firstly carried out, and a high-precision attitude dynamic model is obtained. Then a sliding mode control algorithm based on neural network feed-forward compensation is designed, and the stability analysis based on Lyapunov method is carried out, which proves that the designed controller can realize the semi-global exponential convergence tracking control of the attitude of the unmanned helicopter. The flight test results of attitude control show that the invention can realize fast and accurate stabilization control of the unmanned helicopter, and the controller is less dependent on the prior knowledge of the model, and has good robustness to the uncertainty of the system.

[0087] The invention proposes a novel attitude control method for small unmanned helicopters based on neural network feedforward and sliding mode. This method ...

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Abstract

The invention belongs to the field of autonomous flight control research of mini-type rotary wing type unmanned aerial vehicles and discloses a method for nonlinear control over an unmanned helicopter posture and a verification platform. An unmanned helicopter is rapidly, accurately and stably controlled. Dependence on prior knowledge of a model by a controller is low and in terms of the uncertainty, the robustness of the system is good. According to the technical scheme, the method for nonlinear control over the unmanned helicopter posture comprises the following steps that firstly, experimental modeling is conducted through a sweep frequency method and a following dynamic model is given; secondly, an unmanned helicopter system is identified; thirdly, the unmanned helicopter posture is controlled. The method is mainly used for controlling autonomous flight of the mini-type rotary wing type unmanned aerial vehicle.

Description

technical field [0001] The invention belongs to the research field of autonomous flight control of micro-rotor unmanned aerial vehicles, and is mainly aimed at the design of a control algorithm for a single-rotor unmanned aerial vehicle, including the acquisition of an attitude dynamics model of an unmanned helicopter and the design of a nonlinear robust attitude control law , the attitude flight control experiment, specifically, involves the non-linear attitude control method and verification platform of the unmanned helicopter. Background technique [0002] Small unmanned helicopters refer to special aircraft that can fly autonomously to complete specified tasks without human driving or operation. Due to its advantages of vertical takeoff and landing, high safety, good maneuverability, and hovering in the air, it has a wide range of application prospects in both civilian and military applications, such as low-altitude sea area surveys, complex terrain detection, long-dista...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08G05B17/02G05B23/02
Inventor 鲜斌古训张垚刘祥
Owner TIANJIN UNIV
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