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A hybrid control method of attitude and position of quadrotor aircraft based on dic-pid

A four-rotor aircraft, hybrid control technology, applied in attitude control, three-dimensional position/course control, vehicle position/route/altitude control, etc., can solve problems such as poor control effect, achieve excellent stability, good control effect, Robust Effect

Inactive Publication Date: 2020-05-19
苏州炎晶电子科技有限公司
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Problems solved by technology

[0004] However, this simple DIC control strategy will lead to poor control effects due to external disturbances and modeling uncertainties

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  • A hybrid control method of attitude and position of quadrotor aircraft based on dic-pid
  • A hybrid control method of attitude and position of quadrotor aircraft based on dic-pid
  • A hybrid control method of attitude and position of quadrotor aircraft based on dic-pid

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Embodiment Construction

[0068] The following will clearly and completely describe and discuss the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings of the present invention. Obviously, what is described here is only a part of the examples of the present invention, not all examples. All other embodiments obtained by persons of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.

[0069] Such as figure 1 As shown, the present invention discloses a hybrid control method of attitude and position of a DIC-PID-based quadrotor aircraft, comprising the following steps:

[0070] Step 1: Treat the quadrotor aircraft as a single rigid body, obtain its nonlinear dynamic model through the Newton-Euler equation, and establish the input-output relationship of the system;

[0071] Step 2: Based on the DIC dynamic inverse control theory, perform attitude control on the inner loop of the quadrotor aircr...

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Abstract

The invention discloses a four-rotor aircraft attitude and position hybrid control method based on DIC-PID. The method comprises the steps that 1 a four-rotor aircraft is used as a single rigid body, and the nonlinear dynamics model is acquired through a Newton-Euler equation to determine in-out relation of a system; 2 attitude control is carried out on the internal loop of the four-rotor aircraft based on a DIC dynamic inverse control theory to form an inner ring attitude controller; 3 position control is carried out on the external loop of the four-rotor aircraft based on a PID theory to form an outer ring position controller, and decoupling control of attitude and position channels is realized; and 4 in a simulation environment, the proposed control method is tested through step response and a tracking rising spiral line. The hybrid control method provided by the invention has better ability to suppress external disturbance and unmodeled dynamics, and can meet the requirements of attitude control and position control of the four-rotor aircraft.

Description

technical field [0001] The invention relates to the field of decoupling control of attitude and position of quadrotor aircraft, in particular to a hybrid control method of attitude and position of quadrotor aircraft based on DIC-PID. Background technique [0002] With the development of aviation technology, sensor technology and communication technology, unmanned aerial vehicles (UAVs) have attracted widespread attention because of their huge application prospects. Among all types of drones, the quadrotor has a simple mechanical structure, is easy to disassemble, and has the functions of vertical take-off and landing and fixed-point hovering. Therefore, it is also an object of keen research by scholars at home and abroad. However, the quadrotor is a nonlinear, strongly coupled underactuated system, and its dynamic equation does not satisfy superposition and homogeneity, so it is quite difficult to realize its high-precision attitude and position control. [0003] In respons...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04G05D1/08G05D1/10
CPCG05B13/04G05D1/0825G05D1/101
Inventor 陈晓磊姜颖韬石红梅
Owner 苏州炎晶电子科技有限公司
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