Robust Control Method for Position Control of Tilting Trirotor UAV

A robust control and unmanned aerial vehicle technology, applied in the field of nonlinear control design of tilting three-rotor unmanned aerial vehicle position, can solve the problems of unmanned aerial vehicle dynamic model analysis and complex control and other problems

Inactive Publication Date: 2021-01-29
TIANJIN UNIV
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Problems solved by technology

This type of configuration effectively improves the endurance time of the UAV and enhances the maneuverability of the UAV, but it also makes the analysis and control of the UAV dynamic model more complicated.

Method used

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  • Robust Control Method for Position Control of Tilting Trirotor UAV
  • Robust Control Method for Position Control of Tilting Trirotor UAV
  • Robust Control Method for Position Control of Tilting Trirotor UAV

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Embodiment Construction

[0057] The technical problem to be solved by the present invention is to design a non-linear control that is robust and can ensure the stability of the position-attitude closed-loop coupled closed-loop system for the tilting three-rotor UAV that can independently control the inclination angle of the tail rudder device.

[0058] The technical scheme adopted in the present invention is: establish the position-attitude double-loop dynamic model of the tilting three-rotor UAV, and design a corresponding nonlinear controller, including the following steps:

[0059] First complete the following definition: define two coordinate systems, such as figure 2 Shown are the inertial frame {I} and the body frame {B}, respectively. The origin of the inertial coordinate system {I} is located on the ground, and the origin of the body coordinate system {B} is located at the center of mass of the trirotor UAV, both of which satisfy the right-hand rule. Defined in the inertial coordinate syste...

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Abstract

The invention relates to the nonlinear control of the position of the tilting three-rotor UAV. In order to propose the inner and outer loop control strategy for the tilting three-rotor UAV, a class of tilting three-rotor UAV position subsystem and The controller of the attitude subsystem, for this reason, the present invention is used for the robust control method of position control of the tilting three-rotor UAV, and the steps are as follows: 1) establish the relevant coordinate system of the tilting three-rotor UAV: ​​2 ) Establish the dynamic model of the position and attitude of the tilt-rotor UAV: ​​3) Design the nonlinear controller a) Design the position subsystem controller b) Design the attitude subsystem controller. The invention is mainly applied to the occasion of nonlinear control of the position of the three-rotor UAV.

Description

technical field [0001] The present invention relates to the nonlinear control design of the position of the tilting three-rotor UAV, and in particular, relates to a robust control method for the position control of the tilting three-rotor UAV. Background technique [0002] The tilting three-rotor unmanned aerial vehicle combines the advantages of both the multi-rotor helicopter and the tilting aircraft. On the basis of maintaining the vertical take-off and landing of the multi-rotor helicopter and the characteristics of easy operation, the steering gear is added to the tail rudder, which improves the Therefore, it also has the advantages of strong maneuverability and large payload of the tilting aircraft, and has certain research potential and research value. [0003] As a kind of multi-rotor UAV, the tilting tri-rotor UAV has the characteristics of static instability, underactuation, strong coupling and nonlinear mathematical model. Static instability requires that the con...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0825G05D1/101
Inventor 鲜斌金鑫张旭
Owner TIANJIN UNIV
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