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Four-rotor 3D path tracking method based on nonlinear PD double closed-loop control

A double-closed-loop control and path tracking technology, applied in non-electric variable control, vehicle position/route/height control, control/regulation system, etc., can solve problems such as unstable flight attitude and poor control accuracy

Active Publication Date: 2020-03-17
XIDIAN UNIV
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Problems solved by technology

[0006] It is used to solve the problems of poor control accuracy and unstable flight attitude existing in the prior art

Method used

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  • Four-rotor 3D path tracking method based on nonlinear PD double closed-loop control
  • Four-rotor 3D path tracking method based on nonlinear PD double closed-loop control
  • Four-rotor 3D path tracking method based on nonlinear PD double closed-loop control

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Embodiment Construction

[0056] The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

[0057] refer to figure 1 , the present invention comprises the following steps:

[0058] Step 1) Set the flight parameters of the quadrotor:

[0059] Divide the total flight time of the quadrotor aircraft in 3D space into N time periods, and obtain a set T={t including N+1 time points 0 ,t 1 ,...,t i ,...,t N}, where t 0 is the starting time point, and t 0 = 0, t i is the i-th time point, N=500, and the duration between adjacent time points is Δt=0.01, establish a coordinate system including three directions of x, y, and z in 3D space, and set the quadrotor aircraft at t i The real pitch angle relative to the ground at all times is The angular velocity is The true roll angle is The angular velocity is The real yaw angle is The angular velocity is The position coordinates of the real trajectory The expected pitch ...

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Abstract

The invention discloses a four-rotor 3D path tracking method based on nonlinear PD double closed-loop control. The method comprises the following steps: to begin with, setting flight parameters of a four-rotor aircraft, constructing a trajectory model Pc of the four-rotor aircraft, and initializing a result buffer variable buffer and an expected roll angle [psi]c; then, calculating an outer loop control quantity row vector pu of the four-rotor aircraft at the ti moment according to the trajectory model Pc; calculating total thrust Tu, an expected pitch angle and an expected drift angle of the four-rotor aircraft at the ti moment through the outer ring control quantity; calculating an inner ring attitude angle control quantity matrix of the four-rotor aircraft at the ti moment by combining expected attitude; calculating and obtaining a tracking result for controlling the path of the four-rotor aircraft according to the total thrust Tu; and finally, performing cyclic control onthe trajectory model Pc through the set parameters. According to the invention, the stability of four-rotor aircraft can be effectively controlled, a high-accuracy tracking result can be obtained, anda path tracking flight control task of four-rotor unmanned navigation can be completed.

Description

technical field [0001] The invention belongs to the technical field of autonomous flight control of aircraft, and relates to a 3D path tracking method for a quadrotor aircraft, in particular to a 3D path tracking method for a quadrotor aircraft based on nonlinear PD double closed-loop control, which can be used for high-precision quadrotor aircraft Automatic navigation control. Background technique [0002] A multi-rotor aircraft is a UAV that relies on propellers and motors symmetrically distributed around the body to provide flight power, and performs autonomous flight or remote control flight to complete specified tasks. Compared with fixed-wing aircraft, it has the advantages of excellent control performance, simple mechanical structure, flexible and diverse flight modes, etc., and its super maneuverability and flight stability of vertical take-off and landing, fixed-point hovering have attracted wide attention from all walks of life. The more rotors the multi-rotor air...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0221G05D1/0223G05D1/0276
Inventor 刘静杨黔生
Owner XIDIAN UNIV
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