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Three-dimensional flight path tracking method for unmanned airship

A track tracking, unmanned airship technology, applied in three-dimensional position/channel control, instrument, adaptive control and other directions, can solve problems such as system buffeting

Active Publication Date: 2015-01-14
NAT UNIV OF DEFENSE TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the discontinuous switching characteristics of sliding mode control lead to chattering in the system, which has become its significant disadvantage

Method used

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  • Three-dimensional flight path tracking method for unmanned airship
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  • Three-dimensional flight path tracking method for unmanned airship

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Embodiment Construction

[0134] A kind of unmanned airship track control method of the present invention, its concrete steps are as follows:

[0135] Step 1: Given command track

[0136] The given command track is:

[0137] n d =[x d ,y d ,z d ,θ d ,ψ d ,φ d ] T =[(3t)m,(0.93t)m,10m,0rad,0.3rad,0rad] T , x d 、y d ,z d , θ d 、ψ d and φ d They are command x coordinate, command y coordinate, command z coordinate, command pitch angle, command yaw angle and command roll angle;

[0138] Step 2: Calculate the amount of error

[0139] Calculate the amount of error between the commanded track and the actual track:

[0140] e=η d -η=[x d -x,y d -y,z d -z,θ d -θ,ψ d -ψ,φ d -φ] T ,

[0141] where, η=[x,y,z,θ,ψ,φ] T is the actual track, x, y, z, θ, ψ, φ are the x coordinate, y coordinate, z coordinate, pitch angle, yaw angle and roll angle of the actual track respectively, which are continuously changing values.

[0142] The initial track is:

[0143] n 0 =[x 0 ,y 0 ,z 0 ,θ 0 ,ψ ...

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Abstract

The invention discloses a three-dimensional flight path tracking method for an unmanned airship. The three-dimensional flight path tracking method comprises the steps of firstly, calculating an error amount by use of a given instruction flight path and an actual flight path, secondly, designing a flight path control law by use of a sliding mode control method and then calculating a flight path control quantity; in order to effectively suppress buffeting caused by sliding mode control, designing a neural network sliding mode control law by taking a sliding mode surface and the change rate as the input variables of a neural network and taking a control gain as the output variable of the neural network; adjusting the control gain on line by virtue of the self-learning function of the neural network. According to the three-dimensional flight path tracking method for the unmanned airship, the mathematical model of the space motion of the unmanned airship is established aiming at the flight path tracking problem of the unmanned airship; with the model as a control object, the flight path control law is designed by use of the sliding mode control method; in order to suppress buffeting, the neural network sliding mode control law is designed by taking the sliding mode surface and the change rate as the input variables of the neural network and taking the control gain as the output variable of the neural network, and the control gain is adjusted on line by virtue of the self-learning function of the neural network so as to suppress buffeting, and therefore, the system performance is improved.

Description

technical field [0001] The invention relates to a flight control method in the aerospace field, which provides a neural network sliding mode control method for unmanned airship track tracking, and belongs to the technical field of automatic control. Background technique [0002] An unmanned airship refers to an aircraft that relies on a gas that is lighter than air (such as helium, hydrogen, etc.) to generate static buoyancy, and relies on an automatic flight control system to achieve fixed-point residence and low-speed maneuvering. It is widely used in reconnaissance and surveillance, earth observation, environmental monitoring, emergency disaster relief, scientific detection and other fields. It has important application value and broad application prospects. It has become a research field in the aviation field. hotspot. Track tracking means that the unmanned airship flies according to the predetermined track (or waypoint) to complete various flight tasks. The space moti...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10G05B13/04
Inventor 杨跃能闫野周洋邵汉斌
Owner NAT UNIV OF DEFENSE TECH
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