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Four-rotor UAV attitude control parameter tuning method based on improved fish swarm algorithm

A technology of quadrotor UAV and fish swarm algorithm, which is applied in the direction of attitude control, non-electric variable control, control/regulation system, etc., can solve the problems of optimization, slow convergence speed, low convergence accuracy, etc., and increase the local maximum Excellent ability and the effect of improving the convergence speed

Active Publication Date: 2017-10-27
国电瑞源(西安)智能研究院有限公司
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Problems solved by technology

[0005] In order to avoid the deficiencies of the prior art, the present invention proposes a quadrotor UAV attitude control parameter tuning method based on the improved fish swarm algorithm, which overcomes the limitation of the existing parameter tuning method on the quadrotor UAV ADRC controller. The convergence accuracy of the optimal parameter solution is not high, the convergence speed is seriously reduced in the later stage, and it is easy to fall into the defect of local optimum

Method used

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  • Four-rotor UAV attitude control parameter tuning method based on improved fish swarm algorithm
  • Four-rotor UAV attitude control parameter tuning method based on improved fish swarm algorithm
  • Four-rotor UAV attitude control parameter tuning method based on improved fish swarm algorithm

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Effect test

Embodiment 1

[0120] Embodiment 1 Utilizes the test function to verify the solution accuracy and convergence of the improved fish swarm algorithm

[0121] In order to verify the improvement effect of the improved algorithm in terms of solution accuracy and convergence, the standard test functions of two-dimensional Griewank function, Schaffer function and Ackley function were selected to compare the effect of the algorithm before and after the improvement. Problem, get the food concentration calculation function as Y=f(X)=-g h (X)h=G, S, A, the mathematical expressions of the three functions and the global optimal solution are given in Table 1.

[0122] Suppose there are N fish in the artificial fish school, F=(X 1 ,X 2 ,...,X i ,...,X N ), 1≤i≤N, the state X of each individual artificial fish can use the parameter X=(x 1 ,x 2 ) is the optimization design variable; [Down k ,Up k ] is the optimization range of the kth design variable, Up k is the range upper bound, Down k is the lo...

Embodiment 2

[0144] Example 2 Feasibility verification of parameter tuning of quadrotor UAV with improved fish swarm algorithm

[0145] Refer to attached Figure 1-8 , the specific implementation steps of the inventive method are as follows:

[0146] Step 1. Establish a typical quadrotor UAV pitch attitude kinematics model as follows:

[0147]

[0148] In the formula, p is the rolling angular velocity of the UAV; q is the pitching angular velocity of the UAV; is the pitch angular acceleration of the UAV; r is the yaw angular velocity of the UAV;; I y is the moment of inertia of the UAV on the y-axis; τ y is the moment of the UAV on the y-axis;

[0149] The moment of inertia of a certain type of quadrotor aircraft is: I x =0.039kgm 2 , I y =0.039kgm 2 , I z =0.078kgm 2 Δf θ =0.01cos(0.8t)θ,, p=0.05sin(0.5t)rad / s, r=0.02cos(0.5t)rad / s, d θ =0.01rad / s

[0150] Transform formula (1) into the integral chain model form of formula (2):

[0151]

[0152]

[0153] In the for...

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Abstract

The invention relates to a four-rotor UAV (unmanned aerial vehicle) attitude control parameter tuning method based on an improved fish swarm algorithm. Based on a standard artificial fish swarm algorithm, the invention provides a strategy for dynamically adjusting an artificial fish moving step length, an elitist preservation and reproductive behavior and an external fishing behavior are introduced, and defects of series reduction of a later convergence speed, low convergence accuracy and easy falling into local optimum of a standard artificial fish swarm algorithm in the prior art are overcome. The method can be used for solving problems of aircraft design, flight control parameter tuning and path planning and has good problem solving accuracy and efficiency.

Description

technical field [0001] The invention relates to an attitude control parameter setting method for a quadrotor UAV based on an improved fish swarm algorithm, which mainly performs parameter tuning for an active disturbance rejection attitude controller of a typical quadrotor UAV. Background technique [0002] Although the ADRC of the quadrotor UAV has good anti-interference performance, but the controller parameters are numerous, and the use of a large number of nonlinear functions makes the controller parameter tuning problems due to the multi-variable, nonlinear, multi-extreme values ​​and other problems. , it is difficult to solve it through analytical calculations, and it is necessary to establish a problem description model combined with performance indicators, and transform it into a function optimization problem and use an intelligent optimization algorithm with strong robustness and global optimization capabilities to solve it. Li Xiaolei, a Chinese scholar, proposed t...

Claims

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Application Information

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IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 王佩张科吕梅柏徐有新王靖宇姜海旭邢超
Owner 国电瑞源(西安)智能研究院有限公司
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