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Unmanned aerial vehicle control method capable of meeting autonomous landing requirements of maneuvering platform

A UAV and platform technology, applied in non-electric variable control, target-seeking control, attitude control, etc., can solve the problems of restricting control efficiency and control accuracy, and achieve improved maneuverability, rapid response, and smooth landing trajectory , Faster and more stable landing effect

Active Publication Date: 2021-01-08
BEIJING INSTITUTE OF TECHNOLOGYGY +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In addition, although the PID algorithm is a control algorithm based on deviation, its parameters are mostly adjusted through experiments and manual debugging in practical engineering applications, which will lead to design results that are not globally optimal. From this perspective, it In fact, it is very dependent on the dynamic model of the controlled object, because once the mathematical model is obtained, better parameters can be found through theoretical design, which also becomes a factor that restricts the actual control efficiency and control accuracy of the algorithm.

Method used

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  • Unmanned aerial vehicle control method capable of meeting autonomous landing requirements of maneuvering platform
  • Unmanned aerial vehicle control method capable of meeting autonomous landing requirements of maneuvering platform
  • Unmanned aerial vehicle control method capable of meeting autonomous landing requirements of maneuvering platform

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Effect test

Embodiment 1

[0119] Assume that the trajectory of the target platform is a straight line, the initial point is at the origin, and the target platform moves in a straight line at a speed of 2m / s. The initial speed of the quadrotor UAV is 0, and it hovers at the coordinate point (10m, 20m, 10m),

[0120] Input the position and motion information into the built simulation model to simulate the trajectory of autonomous landing. Among them, the proportional guidance coefficient k is 4, and the yaw angle of the quadrotor UAV is set to 30°.

[0121] The trajectory simulation of the target platform and the quadrotor UAV is as follows: image 3 As shown in Figure 3, it can be seen that the quadrotor UAV can achieve autonomous landing, and the landing trajectory is relatively smooth, with a large degree of curvature at the initial stage and a small degree of curvature at the end.

[0122] In addition, observe and analyze some control quantities in the output process, such as Figure 4 Shown is th...

Embodiment 2

[0125] The simulation experiment of the autonomous landing trajectory is carried out on the complex movement of the target platform. Assuming that the target platform moves according to the sinusoidal trajectory, the simulation experiment diagram of the target platform and the motion trajectory curve of the quadrotor UAV is as follows: Figure 7 shown.

[0126] From Figure 7 It can be seen from the figure that the quadrotor UAV can successfully land smoothly after the target mobile platform moves for two periods T, and the tracking effect in the process is better. , the curvature of the trajectory of the four-rotor in the initial stage is relatively large, that is, it is followed by turning with a large normal overload. The state of motion landed on the platform.

[0127] Based on the results of the above simulation experiments, a control algorithm proposed by the present invention that meets the requirements of autonomous landing is feasible.

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Abstract

The invention discloses an unmanned aerial vehicle control system and control method for meeting the autonomous landing requirement of a maneuvering platform; and the system comprises a motion information obtaining module which is used for obtaining motion information of a target platform and an unmanned aerial vehicle, a difference module used for calculating relative motion information of the target platform and the unmanned aerial vehicle, a proportional guidance module used for obtaining the three-axis overload amount of the unmanned aerial vehicle according to the relative position information, an attitude calculation module used for obtaining the expected attitude quantity of the unmanned aerial vehicle according to the three-axis overload quantity, and a flight control module used for controlling the flight attitude of the unmanned aerial vehicle according to the expected attitude quantity so as to realize autonomous landing of the unmanned aerial vehicle on the maneuvering platform. According to the control system and method provided by the invention, a proportional guidance algorithm is adopted, so that three-axis overload change and speed change in the autonomous landingprocess of the unmanned aerial vehicle are stable, the landing trajectory is smooth, a target platform can be tracked quickly and accurately, and accurate autonomous landing is realized.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicle control, in particular to a method for controlling an unmanned aerial vehicle that meets the autonomous landing requirements of a maneuvering platform. Background technique [0002] Due to its advantages of convenient use, flexible maneuverability, and high control precision, multi-rotor UAVs are widely used in fields such as emergency rescue and relief, material transportation, and military strikes. Landing of UAVs is a stage of high risk of mission execution. Autonomous landing on a maneuvering platform is of great significance for saving manpower and material resources and improving safety. [0003] At present, the autonomous landing of multi-rotor drones mostly adopts the traditional PID control algorithm, which realizes stable and accurate control by performing proportional integral differential processing on the deviation of position and speed information, and gradually elimi...

Claims

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Application Information

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IPC IPC(8): G05D1/08G05D1/12
CPCG05D1/12G05D1/0825
Inventor 林德福郭凯阳王江宋韬曹先彬王伟莫雳张福彪
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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