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Unmanned aerial vehicle robust attitude control method and device, and electronic device

An unmanned aerial vehicle, attitude control technology, applied in attitude control, non-electric variable control, control/regulation system, etc., can solve the aerodynamic difference, conversion jitter, tailstock UAV tracking performance and robustness. Poor stickiness etc.

Inactive Publication Date: 2018-11-13
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Due to the large aerodynamic difference between the two flight modes, it is necessary to switch coordinate systems or controllers in different flight modes during flight mode transitions, which is prone to transition jitter
[0004] Therefore, tailseat UAVs have poor tracking performance and robustness

Method used

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  • Unmanned aerial vehicle robust attitude control method and device, and electronic device
  • Unmanned aerial vehicle robust attitude control method and device, and electronic device
  • Unmanned aerial vehicle robust attitude control method and device, and electronic device

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Embodiment 1

[0030] This embodiment proposes a robust attitude control method for an unmanned aerial vehicle, so as to simultaneously realize the ideal tracking performance and robustness of a class of tailseat aircraft. The airframe dynamics model is considered as a nominal system with equivalent perturbations involving nonlinearities, parameter uncertainties, model differences for the two flight modes and external disturbances. The robust attitude controller designed in this embodiment consists of a feed-forward controller, an H 2 controller and a robust compensator. A feed-forward controller is designed to obtain the nominal error system to design H 2 Controller and Robust Compensator. h 2 The controller is designed to achieve the best tracking performance required by the nominal model, while introducing a robust compensator to reduce the effects of control system uncertainties.

[0031] figure 1 A schematic flow diagram of designing a robust attitude controller provided by an embo...

Embodiment 2

[0174] Figure 10 A schematic structural diagram of a robust attitude control device for an unmanned aerial vehicle provided by an embodiment of the present invention, which is applied to a tail seat type unmanned aerial vehicle. like Figure 10 As shown, the device includes:

[0175] The data acquisition module 32 is used to obtain the current state data and the current expected attitude angle of the unmanned aerial vehicle; wherein, the current state data includes the current attitude angle and the first moment and the second moment currently acting on the unmanned aerial vehicle, the first moment corresponds to the wing, and the second moment corresponds to the gyroscopic effect;

[0176] The attitude controller module 34 is used to determine the attitude control input of the unmanned aerial vehicle according to the current state data, the current desired attitude angle and the pre-designed robust attitude controller; wherein, the robust attitude controller is established...

Embodiment 3

[0180] see Figure 11 , the embodiment of the present invention also provides an electronic device 100, including: a processor 40, a memory 41, a bus 42 and a communication interface 43, the processor 40, the communication interface 43 and the memory 41 are connected through the bus 42; Executable modules, such as computer programs, stored in the execution memory 41 .

[0181] Wherein, the memory 41 may include a high-speed random access memory (RAM, RandomAccessMemory), and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 43 (which may be wired or wireless), and the Internet, wide area network, local network, metropolitan area network, etc. can be used.

[0182] The bus 42 can be an ISA bus, a PCI bus or an EISA bus, etc. The bus can be divided into address bus, data bus...

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Abstract

The invention provides an unmanned aerial vehicle robust attitude control method and device, and an electronic device and relates to the automation control technology field. The method comprises the following steps of acquiring the current state data and the current desired attitude angle of an unmanned aerial vehicle; determining the attitude control input of the unmanned aerial vehicle based oncurrent state data, the current desired attitude angle, and a pre-designed robust attitude controller, wherein the robust attitude controller includes a feedforward controller and an H2 controller designed based on the attitude error model of quaternion representation, and a robust compensator; and according to the attitude control input, controlling the flight attitude of the unmanned aerial vehicle. The feedforward controller and the H2 controller designed based on the attitude error model of quaternion representation can complete flight mode conversion under the condition that coordinate systems are not switched; and the robust compensator can simultaneously restrain the influenced of parameter uncertainty, nonlinearity, coupling dynamics and external disturbances in a whole frequency range, and the tracking performance and the robustness of the unmanned aerial vehicle are improved.

Description

technical field [0001] The invention relates to the technical field of automatic control, in particular to a robust attitude control method, device and electronic equipment for an unmanned aerial vehicle. Background technique [0002] Unmanned Aerial Vehicle (UAV, Unmanned Aerial Vehicle) is also called drone. In recent years, drone technology has become increasingly popular in the fields of control and robotics. Among them, the tail seat unmanned aerial vehicle (referred to as the tail seat) has two flight modes: they can be used as a fixed-wing aircraft to fly for a long distance at a high cruise speed (horizontal flight mode); or as a rotor aircraft to take off and land and hang stop (vertical flight mode). [0003] The most important thing in the tail seat type is to design the controller to achieve the desired attitude control during the flight mode transition, which includes the flight process from low-speed vertical flight to high-speed forward flight or from high-s...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 刘昊张健松蔡国飙刘德元赵万兵
Owner BEIHANG UNIV
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