CN104536448B - Backstepping based control method for unmanned-plane attitude system - Google Patents
Backstepping based control method for unmanned-plane attitude system Download PDFInfo
- Publication number
- CN104536448B CN104536448B CN201410653271.7A CN201410653271A CN104536448B CN 104536448 B CN104536448 B CN 104536448B CN 201410653271 A CN201410653271 A CN 201410653271A CN 104536448 B CN104536448 B CN 104536448B
- Authority
- CN
- China
- Prior art keywords
- attitude
- control
- angle
- moment
- unmanned plane
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000000034 method Methods 0.000 title claims abstract description 25
- 230000008859 change Effects 0.000 claims abstract description 11
- 238000005096 rolling process Methods 0.000 claims description 14
- 238000005183 dynamical system Methods 0.000 claims description 7
- 239000011159 matrix material Substances 0.000 claims description 4
- 238000000354 decomposition reaction Methods 0.000 claims description 3
- 238000011897 real-time detection Methods 0.000 claims description 3
- 238000009795 derivation Methods 0.000 claims description 2
- 230000008569 process Effects 0.000 abstract description 2
- 230000003068 static effect Effects 0.000 abstract 1
- 230000004044 response Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention aims at providing a Backstepping based control method for an unmanned-plane attitude system. An attitude control system is designed by using the attitude control moment as input and the attitude angle as output. A complex nonlinear attitude system of an unmanned plane is divided into an angular motion subsystem and a power subsystem, and the subsystems are connected by using the rate of change of three attitude angels as intermediate variables. A virtual control law is designed for the angular motion subsystem, and serves as static compensation for the system. A function Lyapunov of the subsystem is established, so that each state variable of the subsystem is characterized by proper asymptotic stability. The whole system is inverted to, the function Lyapunov of the subsystem represents the function Lyapunov of the whole system, a control law satisfying the control requirement is designed according to the Lyapunov stability theorem, corresponding moment generated by an automatic pilot is used as the control input of the attitude system, and the system achieves an expected state. The method can be used to eliminate deviation of the unmanned plane in the flight process, and enables the unmanned plane to return to a normal track.
Description
Technical field
The present invention relates to a kind of aircraft control method, the specifically attitude control method of unmanned plane.
Background technology
In recent years, unmanned plane is widely used in terms of geological prospecting, rescue and agricultural, thus civilian unmanned plane
The development of technology causes the extensive attention of each scientific research institution both at home and abroad.Civilian unmanned plane when completing work high above the ground, due to it
The speed of a ship or plane, the angle of attack, the drastically change of yaw angle are so that horizontal lateral movement shows, with lengthwise movement, the nonlinear time-varying that height couples
System.Nonlinear system is not existed to the method for designing of the general linear system such as similar POLE PLACEMENT USING.Therefore, non-linear
The research of system control method, controls to UAV Attitude and has great importance.
Wu Sentang, Fei Yuhua exist《Flight control system》(publishing house of BJ University of Aeronautics ＆ Astronautics. Beijing .2009) in a book
Describe the Attitude kinematic function of aircraft in detail.Outer resultant moment M is set up in machine by momental equation group and angular motion equation group
Three components [L, M, N] on axes fixed in the body and three attitude angle in angular movementBetween relation, with [L, M,
N] it is control input, withFor output.[p, q, r] is three angular velocity components of body axis system, in this, as being
The intermediate variable of system.Specific condition under different flight state to be realizing the decoupling of the transverse and longitudinal of the equation of motion through discussion, so
Recycle microvariations principle afterwards, the nonlinear state equation of the equation of motion is written as scalar form：
In equilibrium point (Xe,Ue) on using Taylor series, above-mentioned equation expansion is obtained：
WhereinIt is the row vector with regard to first order differential operator, then the equation group after linearisation is write as linear condition side
Journey form is：
E, A, B are Jacobian matrix, thus can apply above formula that airplane motion equation is carried out linearization process, and then
Control method such as gain asymmetry method, root locus control, Linear-Quadratic Problem etc. of applying traditional linear system are transported to aircraft angle
Dynamic system is controlled, and is widely applied.But have ignored model uncertainty to system in implementation model linearisation
The impact producing is it is impossible to Guarantee control system meets the index request of robustness and stability in global scope.
The Li Chuntao of Nanjing Aero-Space University, Hu Shenghua are in war industry automatization (the 5th phase of volume 31, in May, 2012, p1-
One has been delivered on 4+8)《Unmanned aerial vehicle (UAV) control rule design based on dynamic inverse》, article be directed to the sporting flying of unmanned plane spatial domain non-
Linearly, the feature of high coupling, eliminates the non-linear of system and realizes the decoupling to each passage by calculating inversion model.Will be unmanned
Machine angular motion mechanics model simplification is
G (x) inputs distribution equations for nonlinear Control, by calculating the inverse non-linear factor to eliminate original system of g (x)
System is made to present the characteristic of linear system, and then design control law control system.By emulation it can be seen that dynamic inverse is non-
The control of linear system and decoupling above formula are effectively, but the method has point-device requirement to the model of control object, with
When also require that the state of system all can be accurately measured or accurately estimate, in addition, in order to realize to nonlinear system
Overall dynamic inversion control, meet the control accuracy specified, also require that control input amount and controlled quantity of state number are equal, this is just
Limit extensive application in Control of Nonlinear Systems for the dynamic inversion.
Content of the invention
It is an object of the invention to provide deviation can be eliminated, realize one kind of unmanned plane gesture stability in work high above the ground
UAV Attitude system control method based on Backstepping method.
The object of the present invention is achieved like this：
A kind of UAV Attitude system control method based on Backstepping method of the present invention, is characterized in that：
(1) real-time detection is to UAV Attitude angle, including the roll angle φ of reality output, pitching angle theta and yaw angle
(2) set up UAV Attitude system mathematic model：
Wherein, IxFor rolling moment of inertia, IyFor bowing
Face upward the moment of inertia, IzFor moment of inertia in yaw, IxzIt is the moment of inertia for xz axle；For Elevation angle changing rate,For yaw angle change
Rate,For rolling angular rate of change；Component on body axis system for the unmanned plane body angular velocity of rotation is p, q, r, and p is in x
The angular velocity component of axle, q is in y-axis angular velocity component, and r is in z-axis angular velocity component；L, M, N are respectively outer resultant moment in machine
The decomposition amount in three directions of axes fixed in the body, i.e. rolling moment, pitching moment and yawing；With [L, M, N]TDefeated for controlling
Enter, using roll angle, the angle of pitch, yaw angle as attitude system output, due to flight on desired trajectory line, unmanned plane body
Coordinate system is overlapped with trajectory coordinates system, and attitude angle ideally should be zero, so the attitude angle of unmanned plane output is exactly inclined
Difference；
(3) according to Backstepping control methods, it is above-mentioned comprising that attitude system is divided into angular movement system
Equation group and dynamical system be above-mentioned comprisingEquation group；For angular movement system, with the state of dynamical system
Variable [p, q, r]TAs control input, and pass through design of feedback control law
Make angular movement system in initial point asymptotically stability, wherein,It is respectively roll angle, the angle of pitch, the control of roll angle
Gain；Designed Feedback Control Laws make the Lyapunov function of angular movement systemPair when
Between derivative be negative, according to Lyapunov Stability Theorem, angular movement system Asymptotic Stability；The thus anti-whole system shifted onto
Lyapunov function：
And the time is asked
Lead, for making system stability, Lyapunov function against time derivative need to be for negative it is determined that control law be：
Wherein, K is positive definite matrix, and
(4) according to control moment L, M, the N obtained by step (3), unmanned plane is made to produce rolling by controlling actuator
Moment, pitching moment and yawing complete the control to unmanned plane during flying attitude, eliminate attitude misalignment.
Advantage of the invention is that：The present invention considers pose control system for unmanned plane, using the recursion of Lyapunov function
Design is also called Backstepping method, and attitude motion system design virtual controlling is restrained, and constructs Lyapunov function derivation,
Prove that using Lyapunov Stability Theorem designed virtual controlling rule can make subsystem in equilibrium point Asymptotic Stability, then
Recursion, to dynamical system, designs total control law so that the total Lyapunov function against time derivative of attitude control system is
Bear it is ensured that total system is globally asymptotically stable at equilibrium point.
Brief description
Fig. 1 is the control flow chart of the present invention；
Fig. 2 is the output response analogous diagram of present system；
Fig. 3 is unmanned machine rolling angle output response analogous diagram；
Fig. 4 is unmanned plane angle of pitch output response analogous diagram；
Fig. 5 is unmanned plane yaw angle output response analogous diagram.
Specific embodiment
Illustrate below in conjunction with the accompanying drawings and the present invention is described in more detail：
In conjunction with Fig. 1～5, the present invention comprises the following steps that：
(1) by gyro sensor real-time detection to UAV Attitude angleWhereinTable respectively
Show roll angle, the angle of pitch and the yaw angle of unmanned plane reality output.
(2) set up UAV Attitude system mathematic model：
Wherein, IxFor rolling moment of inertia；IyFor bowing
Face upward the moment of inertia；IzFor moment of inertia in yaw；IxzIt is the moment of inertia for xz axle；For Elevation angle changing rate,For yaw angle change
Rate,For rolling angular rate of change.Component on body axis system for the body angular velocity of rotation is p, q, r.P is the angle in x-axis
Velocity component；Q is in y-axis angular velocity component；R is in z-axis angular velocity component.L, M, N are respectively outer resultant moment in body coordinate
The decomposition amount in three directions of shafting, i.e. rolling moment, pitching moment and yawing.With [L, M, N]TFor control input, to roll
Corner, the angle of pitch, yaw angle are as the output of attitude system.Because flight is on desired trajectory line, unmanned plane body axis system
System overlaps with trajectory coordinates, and attitude angle ideally should be zero, so the attitude angle of unmanned plane output is exactly deviation, needs
So that attitude system is reached at zero balancing point by design control law stable, and then eliminate deviation.
(3) according to Backstepping control methods, it is equation group (1) and dynamical system that attitude system is divided into angular movement system
System is equation group (2).For angular movement system, the state variable [p, q, r] with dynamical systemTAs control input, and pass through
Design of feedback control lawMake angular movement system in initial point
Asymptotically stability, wherein,It is respectively roll angle, the angle of pitch, the control gain of roll angle.In designed feedback
Under control law effect, the Lyapunov function of angular movement systemDerivative to the time is negative,
According to Lyapunov Stability Theorem, angular movement system Asymptotic Stability；The thus anti-Lyapunov function shifting whole system onto
And the time is asked
Lead, for making system stability, Lyapunov function against time derivative need to be negative, so determining that control law is：
Wherein, K is positive definite matrix, and
(4) control moment L, M, N that unmanned plane automatic pilot is calculated according to step (3), is held by controlling other
The control that row mechanism makes unmanned plane produce rolling moment, pitching moment and yawing complete to unmanned plane during flying attitude, eliminates
Attitude misalignment.
Certain model unmanned plane primary data is as shown in table 1.
Table 1 emulates primary data
Note：Data uses English unit, comes from《Flight stability and automatically controlling》(beautiful) Robert C.Nelson
Write, Gu Junxiao translates.
Wherein, W is gravity suffered by unmanned plane；S is wingpiston area；B is the span；For Average aerodynamic string；CLFor lift
Coefficient；CDFor resistance coefficient；CLαSlope for flat board lift curve；CDαFor flat-plate drag slope of a curve；CmαPitching moment system
Several rates of change to the angle of attack；Pitching moment rate of change to time-derivative to the angle of attack；CmqFor pitching moment to angle of pitch speed
The rate of change of degree；V is flight speed.
Accompanying drawing 1 is total system control response simulation curve, and accompanying drawing 2, accompanying drawing 3, accompanying drawing 4 are respectively yaw angle, roll angle
Response curve with the angle of pitch.By analogous diagram as can be seen that roll angle is under conditions of initial value is for φ=0.4745, pass through
20.1s converging to zero；The angle of pitch, under conditions of initial value is for θ=- 0.2584, converges to zero after 17.5s；In yaw angle
Initial value isUnder conditions of, converge to zero, and non-overshoot through 32.4s.
Simulation results show, the control law according to the inventive method can make attitude system reach at zero balancing point effectively
To stable, thus eliminating attitude misalignment, realize the function of flight attitude holding.
Claims (1)
1. a kind of UAV Attitude system control method based on Backstepping method, is characterized in that：
(1) real-time detection is to UAV Attitude angle, including the roll angle φ of reality output, pitching angle theta and yaw angle
(2) set up UAV Attitude system mathematic model：
Wherein, IxFor rolling moment of inertia, IyFor pitching inertia
Square, IzFor moment of inertia in yaw, IxzIt is the moment of inertia for xz axle；For Elevation angle changing rate,For go off course angular rate of change,For
Rolling angular rate of change；Component on body axis system for the unmanned plane body angular velocity of rotation is p, q, r, and p is in the angle of x-axis speed
Degree component, q is in y-axis angular velocity component, and r is in z-axis angular velocity component；L, M, N are respectively outer resultant moment in body coordinate axess
Be the decomposition amount in three directions, i.e. rolling moment, pitching moment and yawing；With [L, M, N]TFor control input, with rolling
Angle, the angle of pitch, yaw angle as attitude system output, due to flight on desired trajectory line, unmanned plane body axis system with
Trajectory coordinates system overlaps, and attitude angle ideally should be zero, so the attitude angle of unmanned plane output is exactly deviation；
(3) according to Backstepping control methods, it is above-mentioned comprising that attitude system is divided into angular movement system Equation
Group and dynamical system are above-mentioned comprisingEquation group；For angular movement system, state variable with dynamical system [p,
q,r]TAs control input, and pass through design of feedback control lawSo that
Angular movement system is in initial point Asymptotic Stability, wherein, kφFor the control gain of roll angle, kθFor the control gain of the angle of pitch,For
The control gain of yaw angle；Designed Feedback Control Laws make the Lyapunov function of angular movement systemDerivative to the time is negative, and according to Lyapunov Stability Theorem, angular movement system is asymptotic steady
Fixed；The thus anti-Lyapunov function shifting whole system onto：
And to time derivation, be
Make system stability, Lyapunov function against time derivative need to be for negative it is determined that control law be：
Wherein, K is positive definite matrix, and
(4) according to control moment L, M, the N obtained by step (3), by control actuator make unmanned plane produce rolling moment,
Pitching moment and yawing complete the control to unmanned plane during flying attitude, eliminate attitude misalignment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410653271.7A CN104536448B (en) | 2014-11-17 | 2014-11-17 | Backstepping based control method for unmanned-plane attitude system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410653271.7A CN104536448B (en) | 2014-11-17 | 2014-11-17 | Backstepping based control method for unmanned-plane attitude system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104536448A CN104536448A (en) | 2015-04-22 |
| CN104536448B true CN104536448B (en) | 2017-02-22 |
Family
ID=52851990
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410653271.7A Expired - Fee Related CN104536448B (en) | 2014-11-17 | 2014-11-17 | Backstepping based control method for unmanned-plane attitude system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104536448B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105739513B (en) * | 2016-02-05 | 2018-06-12 | 北京航空航天大学 | A kind of quadrotor flying robot nonlinear loci tracking control unit and its tracking and controlling method |
| CN105812791B (en) * | 2016-04-08 | 2017-10-20 | 中国西安卫星测控中心 | A kind of optical tracking measurement data systematic error compensation method |
| CN108749816B (en) * | 2018-05-15 | 2020-03-31 | 天津职业技术师范大学 | Method for regulating and controlling speed of intelligent vehicle by using energy dissipation theory |
| CN110879603B (en) * | 2019-12-09 | 2022-11-25 | 国网安徽省电力有限公司检修分公司 | Anti-recoil control method and system for unmanned aerial vehicle and storage medium |
| CN113189867B (en) * | 2021-03-24 | 2023-11-14 | 大连海事大学 | Unmanned ship self-learning optimal tracking control method considering pose and speed limitation |
| CN113885358B (en) * | 2021-10-27 | 2023-09-26 | 中国民航管理干部学院 | Hybrid configuration fixed wing unmanned aerial vehicle maneuver simulation control law design method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102190081A (en) * | 2010-03-04 | 2011-09-21 | 南京航空航天大学 | Vision-based fixed point robust control method for airship |
| CN102707616A (en) * | 2012-05-31 | 2012-10-03 | 西北工业大学 | Aircraft triangle model-based controller area design method |
| CN103092213A (en) * | 2013-01-21 | 2013-05-08 | 南京航空航天大学 | Trajectory tracking controlling method of six-rotor-wing air vehicle |
| CN103197560A (en) * | 2013-04-06 | 2013-07-10 | 西安费斯达自动化工程有限公司 | Design method for wide adaptability of aircraft three-dimensional aviating area controller |
| EP2419795B1 (en) * | 2009-04-15 | 2015-08-19 | Airbus Operations GmbH | Method for determining local accelerations, dynamic load distributions and aerodynamic data in an aircraft |
-
2014
- 2014-11-17 CN CN201410653271.7A patent/CN104536448B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2419795B1 (en) * | 2009-04-15 | 2015-08-19 | Airbus Operations GmbH | Method for determining local accelerations, dynamic load distributions and aerodynamic data in an aircraft |
| CN102190081A (en) * | 2010-03-04 | 2011-09-21 | 南京航空航天大学 | Vision-based fixed point robust control method for airship |
| CN102707616A (en) * | 2012-05-31 | 2012-10-03 | 西北工业大学 | Aircraft triangle model-based controller area design method |
| CN103092213A (en) * | 2013-01-21 | 2013-05-08 | 南京航空航天大学 | Trajectory tracking controlling method of six-rotor-wing air vehicle |
| CN103197560A (en) * | 2013-04-06 | 2013-07-10 | 西安费斯达自动化工程有限公司 | Design method for wide adaptability of aircraft three-dimensional aviating area controller |
Non-Patent Citations (1)
| Title |
|---|
| 基于鲁棒自适应反步的可重复使用飞行器再入姿态控制;王芳等;《控制与决策》;20140131;第29卷(第1期);第12-18页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104536448A (en) | 2015-04-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104536448B (en) | Backstepping based control method for unmanned-plane attitude system | |
| Jia et al. | Integral backstepping sliding mode control for quadrotor helicopter under external uncertain disturbances | |
| CN103488814B (en) | Closed loop simulation system suitable for controlling attitude of reentry vehicle | |
| CN106773713B (en) | High-precision nonlinear path tracking control method for under-actuated marine vehicle | |
| Schmidt | Modern flight dynamics | |
| CN103885450B (en) | Depopulated helicopter attitude nonlinear control method and verification platform | |
| CN105159305B (en) | A kind of quadrotor flight control method based on sliding moding structure | |
| CN103760905B (en) | Based on fuzzy feedforward list rotor unmanned helicopter attitude nonlinear robust control method | |
| Yu et al. | Attitude tracking control of a quadrotor UAV in the exponential coordinates | |
| CN105676641A (en) | Nonlinear robust controller design method based on back-stepping and sliding mode control technologies and aimed at nonlinear model of quad-rotor unmanned plane | |
| CN106874617B (en) | Efficient helicopter maneuvering flight quality grade evaluation method | |
| CN109703768B (en) | Soft air refueling docking method based on attitude/trajectory composite control | |
| CN104155990A (en) | Hypersonic aircraft pitch channel attitude control method in consideration of attack angle constraint | |
| CN105629734A (en) | Trajectory tracking control method for NSV (Near Space Vehicle) | |
| CN111290278B (en) | Hypersonic aircraft robust attitude control method based on prediction sliding mode | |
| CN111399531A (en) | Hypersonic aircraft glide phase guidance and attitude control integrated design method | |
| CN109062055A (en) | A kind of Near Space Flying Vehicles control system based on Back-stepping robust adaptive dynamic surface | |
| CN105425812A (en) | Unmanned aerial vehicle automatic landing locus control method based on double models | |
| CN106802570B (en) | Method and device for tracking position of unmanned helicopter | |
| CN106444822A (en) | Space vector field guidance based stratospheric airship's trajectory tracking control method | |
| CN107491088A (en) | Airship track control method with saturated input | |
| CN107065544A (en) | Hypersonic vehicle neural network control method based on angle of attack power function | |
| CN105116914A (en) | Stratospheric-airship-analytic-model-based prediction path tracking control method | |
| CN105759609A (en) | Carrier-based aircraft autonomous landing method based on explicitly nonlinear model predictive control | |
| CN109885074A (en) | Quadrotor drone finite time convergence control attitude control method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170222 |