CN105425812A - Unmanned aerial vehicle automatic landing locus control method based on double models - Google Patents
Unmanned aerial vehicle automatic landing locus control method based on double models Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0607—Rate of change of altitude or depth specially adapted for aircraft
- G05D1/0653—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing
- G05D1/0676—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing specially adapted for landing
- G05D1/0684—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing specially adapted for landing on a moving platform, e.g. aircraft carrier
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
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Abstract
The invention discloses an unmanned aerial vehicle automatic landing locus control method based on double models. The method comprises the following steps: 1, establishing an unmanned aerial vehicle and aircraft carrier dynamical model, and according to relative positions between an unmanned aerial vehicle and an aircraft carrier, establishing a relative movement equation; 2, according to a feedback linearization theoretical method, designing an unmanned aerial vehicle to aircraft carrier locus controller; 3, designing an expected space locus of the aircraft carrier; designing an expected relative tracking value; and designing an expected relative speed; 4, calculating to eliminate errors between expected and actual relative longitudinal (xe<~>), (ue<~>), and transversal (ye<~>)and vertical (ze<~>) relative positions; and calculating to eliminate an error theta e<~> between an expected relative pitch angle and an actual relative pitch angle, a pitch angular speed Pe<~> and a deflection ratio We<~>; and 5, each execution part controlling signal calculation: calculating an execution part control variable [delta T, delta a, delta e, delta r] needed by an execution part control variable u needed for realizing a control amount. A control process is shown in attached drawings.
Description
Technical Field
The invention provides an automatic landing trajectory control method of an unmanned aerial vehicle based on a dual model, provides a new trajectory control method for automatic landing of the unmanned aerial vehicle, and belongs to the technical field of automatic control.
Background
The carrier-borne unmanned aerial vehicle is a navy unmanned aerial vehicle based on an aircraft carrier or other warships. The control object of the method is a fixed wing type unmanned aerial vehicle. The ship-based unmanned aerial vehicle adopting conventional propulsion is a nonlinear mechanical system, and typical flight states of the ship-based unmanned aerial vehicle comprise take-off, cruise flight, turning, landing and the like. For the automatic landing process of the unmanned aerial vehicle, most of the existing control methods only consider the research on the control laws of equiangular gliding, deck power compensation and the like of the unmanned aerial vehicle on the basis of the model control method of the unmanned aerial vehicle. The patent provides a research method for unmanned aerial vehicle trajectory control on the basis of a new modeling method, namely, a model of an unmanned aerial vehicle is considered, a model of an aircraft carrier is established, and then the two models are incorporated into a control calculation method. Therefore, compared with other control technical methods, the unmanned aerial vehicle has more engineering application value compared with the trajectory control of an aircraft carrier.
Although the automatic landing process of the unmanned aerial vehicle is short in time, the unmanned aerial vehicle goes through a series of very complex processes which are mainly divided into two important links of an accurate guidance and automatic control system, and the patent mainly considers the processing method of the automatic control system. At present, the mainstream control method is algorithms such as fuzzy PID (proportion integration differentiation) and dynamic inverse under a single unmanned aerial vehicle model, and most of the algorithms are only used for controlling the attitude of the unmanned aerial vehicle. According to the control method, on the basis of a relative model of the unmanned aerial vehicle and the aircraft carrier, the unmanned aerial vehicle performs tracking control according to the motion trail of the aircraft carrier and the relative position of the unmanned aerial vehicle and the aircraft carrier in a feedback linearization mode, and finally reaches the expected relative position. The feedback linear control method for the unmanned aerial vehicle and the aircraft carrier dual model can control not only the track of an object, but also the attitude of the unmanned aerial vehicle. The method considers the attitude control of the pitch angle in the aspect of attitude, namely, the method meets the new method of the equiangular gliding technology of the unmanned aerial vehicle.
The invention discloses an automatic landing track control method of an unmanned aerial vehicle based on a dual model, and provides a track control method based on a dynamics nonlinear model. The method combines a dual-model control theory and a feedback linearization track algorithm. The closed-loop system controlled by the method is bounded and stable, and has a good convergence effect, so that an effective design means is provided for the realization of the unmanned aerial vehicle carrier landing engineering.
Disclosure of Invention
(1) The purpose is as follows: the invention aims to provide an automatic landing trajectory control method of an unmanned aerial vehicle based on a dual model, and a control engineer can realize the landing trajectory control of the unmanned aerial vehicle by combining actual parameters according to the method.
(2) The technical scheme is as follows: the invention relates to an automatic landing track control method of an unmanned aerial vehicle based on a dual model, which mainly comprises the following steps:
the aircraft carrier space track consists of a horizontal plane cruise track and a vertical track. The horizontal cruise trajectory of an aircraft carrier is generally a straight line. The method comprises the steps of designing an expected aircraft carrier path track and course in advance, and then designing an unmanned aerial vehicle track controller according to a relative model and by utilizing a feedback linearization theory to enable a tracking error of the unmanned aerial vehicle track controller to approach zero in a limited time. In practical application, the state quantities of the position, the attitude, the speed and the like of the aircraft carrier are measured by an onboard sensor such as a combined GPS (global positioning system), and the control quantity calculated by the method is transmitted to a thrust control device, and the trajectory function of the unmanned aerial vehicle can be realized by an aileron, a rudder and a horizontal rudder executing device.
An automatic landing track control method of an unmanned aerial vehicle based on a dual model is characterized by comprising the following specific steps:
firstly, establishing a dynamic model of the unmanned aerial vehicle and the aircraft carrier, and establishing a relative kinematic equation according to the relative positions of the unmanned aerial vehicle and the aircraft carrier.
And step two, designing an unmanned aerial vehicle to aircraft carrier trajectory controller according to a feedback linearization theoretical method.
Designing a space track of the expected aircraft carrier; designing an expected relative tracking value; the desired relative velocity is designed.
Step four, calculating and eliminating the expected and actual relative longitudinal directionsTransverse directionAnd a vertical directionError in relative position; calculating to eliminate error between expected relative pitch angle and actual relative pitch angleAnd pitch angle velocityAnd rate of sinking
Step five, calculating control signals of each execution part: calculating an actuator control amount u ═ required to realize the control amountT,a,e,r]。
Wherein, in the step one, a coordinate system O taking the gravity center of the unmanned aerial vehicle as an origin is establishedaxayaza(ii) a Coordinate system O with aircraft carrier gravity center as originsxsyszs(ii) a Inertial coordinate system O with any point on the ground as origingxgygzgWherein the origin OgAt any point on the ground, OgxgPointing to north, OgygPointing to east, OgzgPointing to the earth's center. And then establishing a dynamic model of the unmanned aerial vehicle and the aircraft carrier, and establishing a relative kinematic equation according to the relative positions of the unmanned aerial vehicle and the aircraft carrier.
Wherein, in the step two, the unmanned aerial vehicle to aircraft carrier track controller is designed according to the feedback linearization theory method, and the calculation method comprises the following steps of converting a relative kinematics model of the aircraft carrier and the unmanned aerial vehicle into the following form:
wherein,
state quantity of relative position
② unmanned plane body coordinate system to ground coordinate system conversion matrix
Feedback linear control matrix
Wherein the design described in step three expects the planar trajectory of the vessel to be a straight line, the straight line trajectory being determined by the initial velocity of the vessel without control disturbances. The vertical path of the ship is a wave fluctuation curve zs(t) — 1.22sin (0.6t) +0.305sin (0.2t) and is assigned as zs(t); the design expectation relative speed isIs a constant number of times, and is,division of the expected relative speed of the unmanned plane and the aircraft carrier along the coordinate system of the aircraft bodyAnd (6) solving.
Wherein the calculation described in step four eliminates the error between the desired position and the actual positionExpected relative position of unmanned aerial vehicle and aircraft carrierWhereinPe＝[xe,ye,ze]TThe position error between the body and the space track of the aircraft carrier can be calculated by the position coordinate P of the body at the starting point of the planned tracka＝[xe,ye,ze]TLinear locus P with aircraft carriers＝[xs,ys,zs]TAnd (5) obtaining the difference. The calculation method is as follows:
at the final stage of carrier landing of the unmanned aerial vehicle, after the unmanned aerial vehicle intercepts and captures a proper lower slideway, the same pitch angle, speed and sinking rate are kept until the unmanned aerial vehicle collides with a flight deck of an aircraft carrier, and impact type carrier landing is realized. ThetaaThe pitch angle of the unmanned aerial vehicle is an included angle between a longitudinal axis of the unmanned aerial vehicle body and a longitudinal axis of a ground coordinate system; thetasThe pitch angle of the ship is the included angle between the longitudinal axis of the aircraft carrier system and the longitudinal axis of the ground coordinate system. I.e. thetae＝θa-θs(ii) a (ii) a The calculation method for tracking the errors of the pitch angle, the speed and the sinking rate comprises the following steps:
wherein,
wherein, the control quantity u required for eliminating the error between the expected relative position and the actual relative position and the error between the expected pitch angle and the actual pitch angle in the step five is calculated by the following method:
wherein,
the advantages and effects are as follows:
compared with the prior art, the invention discloses an automatic landing track control method of an unmanned aerial vehicle based on a dual model, which has the advantages that:
1) the method considers the models of the unmanned aerial vehicle and the aircraft carrier into a control algorithm, and is easy to realize the technical method for solving the relative position and the relative speed of the unmanned aerial vehicle and the aircraft carrier and the corresponding angular gliding.
2) The method can ensure the asymptotic stability performance and the convergence speed of the closed-loop system.
3) The method adopts a feedback linearization method, has simple control structure method, good control effect on the control of a nonlinear system, high response speed and easy engineering realization.
In the application process, a control engineer can directly transmit the control quantity obtained by calculation of the method to an executing mechanism to realize the track function only by mastering the relative position data of the aircraft carrier and the unmanned aerial vehicle without considering the actual cruising track of the aircraft carrier.
Drawings
FIG. 1 is a schematic view of an unmanned aerial vehicle and aircraft carrier of the present invention;
FIG. 2 is a diagram of the geometric relationship of the aircraft carrier and the unmanned plane horizontal track calculation;
FIG. 3 is a geometric relationship chart for calculation of the vertical trajectory of the aircraft carrier and the unmanned aerial vehicle according to the invention;
FIG. 4 is a flow chart of a control method according to the present invention;
the symbols are as follows:
PaPa＝[xa,ya,za]Tthe current position of the ground coordinate system of the unmanned aerial vehicle;
PsPs＝[xs,ys,zs]Tthe current position of the aircraft carrier under a ground coordinate system is obtained;
PePe＝[xe,ye,ze]Tthe relative position between the unmanned aerial vehicle and the aircraft carrier under the ground coordinate system;
X1X1＝[xe,ye,ze,θe]Tthe relative position and posture between the unmanned aerial vehicle and the aircraft carrier under the ground coordinate system;
X2X2＝[ue,ve,we,re]Trelative speed and attitude angular speed between the unmanned aerial vehicle and the aircraft carrier under a ground coordinate system;
Xc the expected relative position and attitude between the unmanned aerial vehicle and the aircraft carrier under the ground coordinate system;
uu＝[T,a,e,r]control quantity for the unmanned aerial vehicle;
θathe pitch angle of the unmanned aerial vehicle along a ground coordinate system;
θspitching angle of the aircraft carrier along the ground coordinate system;
the unmanned aerial vehicle expects a pitch angle relative to the aircraft carrier;
θea relative pitch angle between the unmanned aerial vehicle and the aircraft carrier;
the pitch angle error of the unmanned aerial vehicle relative to the aircraft carrier;
Ta single engine generates thrust;
γa rudder of the control device;
ea horizontal rudder of the control device;
aan aileron of the control device;
υaυa＝[ua,va,wa]Tvector velocity component under the unmanned aerial vehicle body coordinate system;
υsυs＝[us,vs,ws]Tvector velocity component under the aircraft carrier coordinate system;
υeυe＝[ue,ve,we]Trelative vector velocity component under a body coordinate system between the unmanned aerial vehicle and the aircraft carrier;
ωaωa＝[pa,qa,ra]Tangular velocity component under the unmanned aerial vehicle body system;
qapitching elevation speed under an unmanned aerial vehicle body coordinate system;
qsthe speed of a depression elevation angle under a coordinate system of the aircraft carrier body;
qerelative pitch angle speed between the unmanned aerial vehicle and the aircraft carrier under a body coordinate system;
the zeta aircraft body axis and the deck run to a track included angle;
converting a matrix from the R aircraft carrier coordinate system to a ground coordinate system;
Rbgconverting a matrix from an unmanned aerial vehicle body coordinate system to a ground coordinate system;
Rsaconverting a matrix from an aircraft carrier body coordinate system to an unmanned aerial vehicle body coordinate system;
msthe mass of the aircraft carrier;
mathe mass of the drone;
Faaerodynamic force of the unmanned aerial vehicle;
Maaerodynamic moment of the unmanned aerial vehicle;
τshydrodynamic force and moment of the aircraft carrier;
Iathe rotational inertia of the unmanned aerial vehicle;
b, controlling a matrix;
k1a speed gain matrix;
k2a displacement gain matrix;
C(vs) A coriolis and centripetal force matrix;
D(vs) A damping parameter matrix;
Detailed Description
The design method of each part in the invention is further explained with the attached drawings as follows:
the invention discloses an automatic landing track control method of an unmanned aerial vehicle based on a dual model, which comprises the following specific steps:
the method comprises the following steps: establishing a kinematics and dynamics model of unmanned aerial vehicle and aircraft carrier
1) As shown in fig. 1, a body coordinate system O is established with the center of gravity of the unmanned aerial vehicle as the originaxayaza(ii) a Body coordinate system O established by taking aircraft carrier gravity center as originsxsyszs(ii) a Establishing an inertial coordinate system O by taking any point on the ground as an origingxgygzgWherein the origin OgAt any point on the ground, OgxgPointing to north, OgygPointing to east, OgzgPointing to the earth's center.
2) The dynamics model of the unmanned aerial vehicle is as followsThe plane dynamics model of the aircraft carrier is as follows
Because of the relative motion between the aircraft carrier and the unmanned aerial vehicle,
i.e. the relative kinematic model is
Step two: and designing an unmanned aerial vehicle to aircraft carrier trajectory controller according to a feedback linearization theoretical method.
Converting the relative kinematics model of the aircraft carrier and the unmanned aerial vehicle into the following form:
wherein,
state quantity of relative position
② unmanned plane body coordinate system to ground coordinate system conversion matrix
Feedback linear control matrix
Step three: designing a spatial track of a desired aircraft carrier; designing an expected relative tracking value; the desired relative velocity is designed.
The plane track of the ship is designed to be a straight line, and the straight line track is determined by the initial speed of the ship under the condition of no control interference. The vertical path of the ship is a wave fluctuation curve zs(t) — 1.22sin (0.6t) +0.305sin (0.2t) and is assigned as zs(t); designing expected relative position of unmanned aerial vehicle and aircraft carrierWhereinThe desired relative velocity isIs a constant number of times, and is,the decomposition quantity of the expected relative speed of the unmanned aerial vehicle and the aircraft carrier along the coordinate system of the aircraft body is obtained;the desired relative pitch angle and pitch angle velocity of the drone and aircraft carrier, respectively. Wherein,
step four: the calculation eliminates the error between the desired position and the actual position.
Calculating to eliminate error between expected position and actual positionPe＝[xe,ye,ze]TThe position error between the body and the space track of the aircraft carrier can be calculated by the position coordinate P of the body at the starting point of the planned tracka＝[xe,ye,ze]TLinear locus P with aircraft carriers＝[xs,ys,zs]TAnd (5) obtaining the difference. The calculation method is as follows:
at the final stage of carrier landing of the unmanned aerial vehicle, after the unmanned aerial vehicle intercepts and captures a proper lower slideway, the same pitch angle, speed and sinking rate are kept until the unmanned aerial vehicle collides with a flight deck of an aircraft carrier, and impact type carrier landing is realized. ThetaaThe pitch angle of the unmanned aerial vehicle is an included angle between a longitudinal axis of the unmanned aerial vehicle body and a longitudinal axis of a ground coordinate system; thetasThe pitch angle of the ship is the included angle between the longitudinal axis of the aircraft carrier system and the longitudinal axis of the ground coordinate system. I.e. thetae＝θa-θs(ii) a (ii) a The calculation method for tracking the errors of the pitch angle, the speed and the sinking rate comprises the following steps:
step five: each execution unit control signal calculates: calculating an actuator control amount u ═ required to realize the control amountT,a,e,r]。
The control amount u required to eliminate the error between the desired relative position and the actual relative position and to eliminate the error between the desired pitch angle and the actual pitch angle, which are described in step four, is calculated as follows:
namely:
design state control quantity
Wherein,
u＝[u1u2u3u4]T＝[T r a e]T
。
Claims (6)
1. An automatic landing track control method of an unmanned aerial vehicle based on a dual model is characterized by comprising the following specific steps:
firstly, establishing a dynamic model of the unmanned aerial vehicle and the aircraft carrier, and establishing a relative kinematic equation according to the relative positions of the unmanned aerial vehicle and the aircraft carrier.
And step two, designing an unmanned aerial vehicle to aircraft carrier trajectory controller according to a feedback linearization theoretical method.
Designing a space track of the expected aircraft carrier; designing an expected relative tracking value; the desired relative velocity is designed.
Step four calculationEliminating desired versus actual longitudinal directionTransverse directionAnd a vertical directionError in relative position; calculating to eliminate error between expected relative pitch angle and actual relative pitch angleAnd pitch angle velocityAnd rate of sinking
Step five, calculating control signals of each execution part: an execution unit control amount u required to realize the control amount is calculated.
2. The automatic landing trajectory control method of the unmanned aerial vehicle based on the dual model is characterized in that:
establishing a coordinate system O taking the gravity center of the unmanned aerial vehicle as an origin in the step oneaxayaza(ii) a Coordinate system O with aircraft carrier gravity center as originsxsyszs(ii) a Inertial coordinate system O with any point on the ground as origingxgygzgWherein the origin OgAt any point on the ground, OgxgPointing to north, OgygPointing to east, OgzgPointing to the earth's center. And then establishing a dynamic model of the unmanned aerial vehicle and the aircraft carrier, and establishing a relative kinematic equation according to the relative positions of the unmanned aerial vehicle and the aircraft carrier.
3. The automatic landing trajectory control method of the unmanned aerial vehicle based on the dual model is characterized in that:
in the second step, the unmanned aerial vehicle to aircraft carrier trajectory controller is designed according to the feedback linearization theory method, and the calculation method is as follows: converting the relative kinematics model of the aircraft carrier and the unmanned aerial vehicle into the following form:
wherein,
state quantity of relative position
② unmanned plane body coordinate system to ground coordinate system conversion matrix
Feedback linear control matrix
。
4. The automatic landing trajectory control method of the unmanned aerial vehicle based on the dual model is characterized in that:
the design described in step three expects the planar trajectory of the vessel to be a straight line, the straight line trajectory being determined by the initial velocity of the vessel without control disturbance. The vertical path of the ship is a wave fluctuation curve zs(t) — 1.22sin (0.6t) +0.305sin (0.2t) and is assigned as zs(t); the design expectation relative speed isC > 0 is a constant and is,and (4) decomposing the expected relative speed of the unmanned aerial vehicle and the aircraft carrier along a coordinate system of the aircraft body.
5. The automatic landing trajectory control method of the unmanned aerial vehicle based on the dual model is characterized in that:
the calculation described in step four eliminates the error between the desired position and the actual positionExpected relative position of unmanned aerial vehicle and aircraft carrierWhereinThe position error between the body and the space track of the aircraft carrier can be calculated by the position coordinate P of the body at the starting point of the planned tracka＝[xe,ye,ze]TLinear locus P with aircraft carriers＝[xs,ys,zs]TAnd (5) obtaining the difference. The calculation method is as follows:
at the final stage of carrier landing of the unmanned aerial vehicle, after the unmanned aerial vehicle intercepts and captures a proper lower slideway, the same pitch angle, speed and sinking rate are kept until the unmanned aerial vehicle collides with a flight deck of an aircraft carrier, and impact type carrier landing is realized. ThetaaThe pitch angle of the unmanned aerial vehicle is an included angle between a longitudinal axis of the unmanned aerial vehicle body and a longitudinal axis of a ground coordinate system; thetasThe pitch angle of the ship is the included angle between the longitudinal axis of the aircraft carrier system and the longitudinal axis of the ground coordinate system. I.e. thetae＝θa-θs(ii) a (ii) a The calculation method for tracking the errors of the pitch angle, the speed and the sinking rate comprises the following steps:
wherein,
。
6. the automatic landing trajectory control method of the unmanned aerial vehicle based on the dual model is characterized in that:
the control amount u required for eliminating the error between the desired relative position and the actual relative position and for eliminating the error between the desired pitch angle and the actual pitch angle, which are described in step five, is calculated as follows:
wherein,
。
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| CN107491083A (en) * | 2017-09-11 | 2017-12-19 | 北京航空航天大学 | A kind of four rotors based on saturation adaptive sliding-mode observer it is autonomous ship's method |
| CN107678442A (en) * | 2016-08-01 | 2018-02-09 | 北京航空航天大学 | A kind of four rotors based under dual model it is autonomous ship control method |
| CN108873929A (en) * | 2018-05-24 | 2018-11-23 | 北京航空航天大学 | A kind of fixed wing aircraft autonomous landing on the ship method and system |
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