Self-adaptive tracking control method and system for yaw channel dynamics of unmanned helicopter

An unmanned helicopter and adaptive tracking technology, applied in the directions of adaptive control, general control system, control/regulation system, etc., can solve problems such as difficult analytical solutions, causal contradictions of control laws, etc., to ensure that the closed-loop signal is bounded and Effects of Practical Output Tracking

Active Publication Date: 2022-05-24
ACAD OF MATHEMATICS & SYSTEMS SCIENCE - CHINESE ACAD OF SCI +1
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Problems solved by technology

When the system input-output delay d is greater than 1, it is easy to cause causal contradictions in the control law. How to design a causal adaptive control law is the first technical problem.
However, when dealing with non-affine nonlinear dependent bounded closed set conditions based on neural network or fuzzy approximation, it is generally difficult for the optimal control method to deal with non-affine nonlinear with analytical solutions.

Method used

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  • Self-adaptive tracking control method and system for yaw channel dynamics of unmanned helicopter
  • Self-adaptive tracking control method and system for yaw channel dynamics of unmanned helicopter
  • Self-adaptive tracking control method and system for yaw channel dynamics of unmanned helicopter

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Embodiment 2

[0115] The yaw channel dynamics of unmanned helicopters have the characteristics of high relative order and high uncertainty. With the increasing performance requirements of modern aircraft with high maneuverability, it is necessary to improve the yaw control performance of unmanned helicopters. The following takes the dynamic model of the yaw channel of the unmanned helicopter as an example to show the applicability of the proposed method in the actual system. (When the unmanned helicopter is hovering and flying at low speed, the torque mainly comes from the main rotor and tail rotor. Simplify the damping of the fuselage and vertical tail, and the dynamic equation of the yaw channel of the unmanned helicopter can be described as) Consider the following without The dynamic equation of the yaw channel of the human helicopter:

[0116]

[0117] in and r are the yaw angle and yaw angular velocity of the helicopter, respectively, I zz is the inertia of the helicopter around...

Embodiment 3

[0195] Consider the following system model:

[0196] y(t)=θ *T f(y(t-1), y(t-2), y(t-3), u(t-3)), (45)

[0197] in is the system output, is the system input,

[0198]

[0199] in:

[0200] This means that the order n=3 and the time delay d=3 are shown. Assume represents theta * the fourth element in , then:

[0201]

[0202] Based on (46) and (48), it can be verified that the input-output delay of the simulation example (45) is 3 and depends on unknown parameters Based on this, for the bounded closed interval group in (7) selection, just ensure that Choosing on the interval (0, 1.6] ensures that inequality (7) always holds. In this example, we choose Based on the selection of closed interval groups in the parameter update law (5), the specific analytical form of the projection correction term g(θ(t), h(t)) can be determined, and the simulation example (31) is verified as a minimum phase system.

[0203] Design the adaptive control law: From (46) and ...

Embodiment 4

[0210] This embodiment also provides an adaptive tracking control system for the yaw channel dynamics of the unmanned helicopter, including:

[0211] A model building unit for determining the parametric model of the discrete non-affine nonlinear system according to the dynamic equation of the target;

[0212] a parameter estimation unit, configured to design a parameter update law for the parameterized model, and estimate unknown parameters according to the parameter update law to obtain estimated parameters;

[0213] a signal estimation unit, configured to construct an estimation of a signal at a future moment based on the parameter update law to obtain an estimated signal;

[0214] an equation determining unit, configured to determine an adaptive implicit function equation according to the estimated parameter and the estimated signal;

[0215] A control law construction unit, used for designing an adaptive control law with an iterative form based on the adaptive implicit fu...

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Abstract

The invention relates to a self-adaptive tracking control method and system for unmanned helicopter yaw channel dynamics. The method comprises the steps that a parameterized model of a discrete non-affine nonlinear system is determined according to a kinetic equation of a target; designing a parameter updating law for the parameterized model, and estimating unknown parameters according to the parameter updating law to obtain estimated parameters; constructing estimation of a future moment signal based on the parameter updating law to obtain an estimated signal; determining an adaptive implicit function equation according to the estimation parameter and the estimation signal; designing an adaptive control law with an iteration form based on the adaptive implicit function equation; the solution of the adaptive control law in the iterative form is a control signal of the discrete non-affine nonlinear system. According to the method, an analytic adaptive control law is constructed, so that adaptive output tracking performance is realized, and bounded closed-loop signal and practical output tracking of a controlled system are ensured.

Description

technical field [0001] The invention relates to the technical field of adaptive control, in particular to an adaptive tracking control method and system for the yaw channel dynamics of an unmanned helicopter. Background technique [0002] Adaptive control of non-affine nonlinear uncertain systems has always been a hot topic in the field of control. Existing literature proposes many methods to deal with the difficult problem of control signals of non-affine nonlinear systems. Many achievements have been made in the adaptive control of non-affine nonlinear uncertain systems. However, there is no relevant research on how to solve the adaptive control problem of non-affine nonlinear uncertain systems within the framework of parameterized adaptive control. Therefore, it is of great theoretical and practical significance to study the adaptive control problem of non-affine nonlinear uncertain systems within the framework of parameterized adaptive control. [0003] In addition to ...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042Y02T90/00
Inventor 张纪峰张言军孙健赵延龙
Owner ACAD OF MATHEMATICS & SYSTEMS SCIENCE - CHINESE ACAD OF SCI
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