Tail sitter type unmanned aerial vehicle transition section robust control method based on nonlinear disturbance observer

A disturbance observer and robust control technology, applied in non-electric variable control, vehicle position/route/height control, attitude control, etc., can solve problems such as large uncertainties, large changes in speed and attitude, and control nonlinearity

Active Publication Date: 2019-04-16
BEIHANG UNIV +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Due to the large changes in speed and attitude at this stage, there are difficulties in the control of nonlinearity, external interference, and large uncertainties.

Method used

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  • Tail sitter type unmanned aerial vehicle transition section robust control method based on nonlinear disturbance observer
  • Tail sitter type unmanned aerial vehicle transition section robust control method based on nonlinear disturbance observer
  • Tail sitter type unmanned aerial vehicle transition section robust control method based on nonlinear disturbance observer

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0217] Example 1: In the nominal state, ignoring the effect of uncertainty, the proposed controller is consistent with the traditional standard H ∞ Comparison of controller tracking performance.

[0218] Figure 5 and Figure 6 for use with conventional standard H ∞ The trace response result of the controller, Figure 7 and 8 is the tracking response result of the proposed robust controller, Figure 9 It is a comparison chart of the angle error of the two. Standard H can be found ∞ Both the controller and the proposed controller can achieve the required dynamic tracking performance, while the proposed controller of the present invention has a faster response speed.

Embodiment 2

[0219] Example 2: After considering the effect of uncertainty, the proposed nonlinear robust controller is compared with the traditional standard H ∞ Comparison of controller tracking performance.

[0220] Figure 10 and Figure 11 is to use the conventional standard H∞ The trace response result of the controller, Figure 12 and 13 is the tracking response result of the proposed robust controller, Figure 14 It is a comparison chart of the angle error of the two. It can be seen that after considering the influence of uncertainty, the standard H ∞ The tracking performance of the controller is obviously reduced, but the nonlinear robust controller proposed by the present invention can realize the tracking of the reference signal in the case of large maneuvers.

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Abstract

The invention provides a tail sitter type unmanned aerial vehicle transition section robust control method based on a nonlinear disturbance observer. Firstly, an H-infinity controller is designed fora nominal model of a tail sitter type unmanned aerial vehicle at a transition section so as to achieve the expected trajectory tracking performance; and then, in order to inhibit the influence by uncertainty, nonlinear characteristics and external interference and to improve the robustness of the system, the nonlinear disturbance observer is designed. Compared with other control methods, accordingto the robust control method, the dynamic and static tracking performance of the tail sitter type unmanned aerial vehicle can be improved, and under the condition of large maneuvering and strong coupling, the influence by the uncertainty, non-linearity and the external interference can be inhibited by the disturbance observer, so that the expected performance is achieved.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicle control, and specifically proposes a robust control method for a transition section of a tailseat type unmanned aerial vehicle based on a nonlinear disturbance observer. Background technique [0002] UAVs have the advantages of low cost, low risk, high efficiency, and convenient use, and are widely used in military, agricultural, and civilian fields. UAVs can be divided into three types: rotary-wing UAVs, fixed-wing UAVs and tailseat UAVs. Among them, the tail seat UAV combines the advantages of the rotor UAV and the fixed-wing UAV, and combines the vertical take-off and landing capability of the rotor aircraft with the high flight speed of the fixed-wing aircraft. Its structure is similar to that of the fixed-wing drone, the main difference is that the tail is modified, such as installing landing gear, replacing the engine with a larger thrust, and increasing the control surface....

Claims

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Application Information

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IPC IPC(8): G05B13/04G05D1/08
CPCG05B13/042G05D1/0825G05D1/0841
Inventor 李昭莹张立新周文杰郭亮
Owner BEIHANG UNIV
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