CN106155076A - A kind of stabilized flight control method of many rotor unmanned aircrafts - Google Patents
A kind of stabilized flight control method of many rotor unmanned aircrafts Download PDFInfo
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- 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
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
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Abstract
The invention provides the stabilized flight control method of a kind of many rotor unmanned aircrafts, comprise the steps: 1) by the flight real-time running data of airborne sensor acquisition aircraft self, and pass through carried processor the kinematics problem of aircraft is carried out corresponding dissection process, set up vehicle dynamics model;2) according to becoming ginseng convergence differential neurodynamics method for designing, the change ginseng convergence differential Neural Networks Solution device of design multi-rotor aerocraft kinetic model;3) utilize the aircraft real-time running data obtained and targeted attitude data, solve the output controlled quentity controlled variable of aircraft motor by becoming ginseng convergence differential Neural Networks Solution device;4) by step 3) solving result pass to aircraft motor governor control unmanned vehicle motion.The present invention based on becoming ginseng convergence differential neurodynamics method, can quickly, accurately and real-time approximation problem correctly solve, can the multiple time-varying problem such as solving matrix, vector, algebraically and optimization well.
Description
Technical field
The invention belongs to the stabilized flight control method of many rotor unmanned aircrafts, particularly relate to a kind of based on becoming ginseng receipts
Hold back the method for designing of the flight controller of differential neutral net.
Background technology
In recent years, world's unmanned vehicle technology obtains swift and violent development, has VTOL, steadily hovering, wireless biography
The multi-rotor aerocraft of defeated, remote aerial photography and autonomous cruise ability has broad application prospects in military and civil field.Little
Type rotary wind type unmanned plane owing to there is the mobility of excellence, simple frame for movement, convenient disposing and safeguard the features such as simple,
Be widely used in taking photo by plane photography, electric inspection process, environmental monitoring, the fire prevention of deep woods, the condition of a disaster inspection, anti-probably lifesaving, military surveillance and
The fields such as battle assessment.Along with the extensive application of unmanned vehicle, stablize and react the design of quick unmanned aerial vehicle (UAV) control device
Cause the concern of numerous researcher, and traditional unmanned aerial vehicle (UAV) control device is all based on PID closed loop control algorithm and corresponding
Improve what control algolithm was designed.Owing to PID controller and feeding back closed-loop control system design simple, and have been provided with relatively
Good control effect, designs at the controller of aircraft and is widely used.Although PID controller is easy to use, but to reality
The most preferably control effect then relative difficult, and be difficult to some complex task.On the basis of this, it would be desirable to design
The controller that performance is better, and become ginseng convergence differential neutral net and there is super exponential convergence characteristic, it is possible to achieve aircraft
Quick response, it quickly solves characteristic and is suitable for the design and development of controller of aircraft.Simultaneously as this neutral net
Having stronger robustness, designed controller system is stable and controls respond well.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, it is provided that a kind of based on becoming ginseng convergence differential neutral net
The method for designing of stabilized flight controller.
In order to realize foregoing invention, the technical scheme of employing is as follows:
The stabilized flight control method of a kind of many rotor unmanned aircrafts, comprises the steps:
1) obtained with position sensor by attitude transducer airborne on many rotor unmanned aircrafts and corresponding height
Take the flight real-time running data of aircraft self, and the processor carried by many rotor unmanned aircrafts is to aircraft
Kinematics problem carries out corresponding dissection process, sets up vehicle dynamics model;
2) according to becoming ginseng convergence differential neurodynamics method for designing, the change ginseng of design multi-rotor aerocraft kinetic model
Convergence differential Neural Networks Solution device;
3) utilize step 1) in the aircraft real-time running data and the targeted attitude data that obtain, by step 2) designed
The ginseng convergence differential Neural Networks Solution device that becomes solve the output controlled quentity controlled variable of aircraft motor;
4) by step 3) solving result pass to aircraft motor governor control unmanned vehicle motion.
The present invention is based on becoming ginseng convergence differential neurodynamics method, and the method uses the hidden kinetic model generally existed
It is described, the derivative information of each time-varying parameter can be made full use of from method and system aspect, problem solving is had necessarily
Predictive ability, can quickly, accurately and real-time approximation problem correctly solve, can solving matrix, vector, algebraically and excellent well
The multiple time-varying problems such as change.
Accompanying drawing explanation
Fig. 1 is the stabilized flight control method flow chart of many rotor unmanned aircrafts of the embodiment of the present invention.
Fig. 2 is the multi-rotor aerocraft structural side view of the present invention.
Fig. 3 is the multi-rotor aerocraft structure top view of the present invention.
Fig. 4 is the multi-rotor aerocraft structure three-dimensional view of the present invention.
Fig. 5 is multi-rotor aerocraft body axis system figure.
Fig. 6 is nerve network controller site layer Simulation Control effect.
Fig. 7 is nerve network controller velocity layer Simulation Control effect.
Fig. 8 is nerve network controller acceleration layer Simulation Control effect.
Detailed description of the invention
The present invention is described further below in conjunction with the accompanying drawings.
Fig. 1 is the design flow diagram of the present invention, can complete setting of aircraft nerve network controller by illustrated steps
Meter:
The stabilized flight control method of a kind of many rotor unmanned aircrafts, comprises the steps:
1) obtained with position sensor by attitude transducer airborne on many rotor unmanned aircrafts and corresponding height
Take the flight real-time running data of aircraft self, set up vehicle dynamics model, and by many rotor unmanned aircrafts institute
The processor carried carries out corresponding dissection process to the kinematics problem of aircraft;
2) according to becoming ginseng convergence differential neurodynamics method for designing, the change ginseng of design multi-rotor aerocraft kinetic model
Convergence differential Neural Networks Solution device;
3) utilize step 1) in the aircraft real-time running data and the targeted attitude data that obtain, by step 2) designed
The ginseng convergence differential Neural Networks Solution device that becomes solve the output controlled quentity controlled variable of aircraft motor;
4) by step 3) solving result pass to aircraft motor governor control many rotor unmanned aircrafts motion.
Mechanism shown in Fig. 2, Fig. 3 and Fig. 4 is a kind of rotor craft structure in multi-rotor aerocraft.This structure is
Six rotorcraft mechanism model, this mechanism model is by multi-rotor aerocraft propeller 1, brushless electric machine 2, rotor arm 3 and fuselage 4
Composition.The output of six of which motor is made a concerted effort and controlled quentity controlled variable u of synthesis rotating torques composition multi-rotor aerocraft1(t)~u4
(t).And the control design case of the present invention is to restrain differential Neural Networks Solution multi-rotor aerocraft by the designed ginseng that becomes
Controlled quentity controlled variable, thus control aircraft flight, it is achieved the stability contorting of aircraft.Wherein, the rotation arrows direction in Fig. 3 and Fig. 4
The direction of rotation of indication motor, and illustrating direction of rotation clockwise is to realize mutually supporting of motor torque with combination purpose counterclockwise
Disappear, it is achieved stable course changing control.
Fig. 5 show the body axis system schematic diagram at multi-rotor aerocraft place.It is following fixed to make according to body axis system
Justice:
6. number the most 1. number (1), it is respectively to according to clockwise definition six motors of six rotorcraft;
(2), X-axis along 1. number rotor arm direction, point to aircraft direction of advance by body center of gravity;
(3), Y-axis along 2., the axis of symmetry direction of 3. number rotor arm, point to motion side on the right side of aircraft by body center of gravity
To;
(4), Z axis is perpendicular to six rotor plane upwards, by body center of gravity sensing aircraft climb direction;
(5), pitching angle theta (t) be folded angle between body X-axis and the earth horizontal plane, setting just is downwards;
(6), roll angle φ (t) be body Z axis and cross body X-axis the earth perpendicular between angle, aircraft is to the right
Shi Weizheng;
(6) during, yaw angle ψ (t) is body X-axis projection on the earth horizontal plane and earth coordinates folded between X-axis
Angle, Nose Left is just.
The Simulation Control effect curve that Fig. 6, Fig. 7 and Fig. 8 are obtained by designed aircraft nerve network controller.Real
Test emulation for from initial position x (0)=0, y (0)=0 and z (0)=0 and initial attitude θ (0)=0, φ (0)=0 and ψ
(0)=0 starts, and utilizes the controller of aircraft based on becoming ginseng convergence differential neutral net make aircraft run and reach target position
Put x (t)=0, y (t)=0 and z (t)=30 and dbjective state θ (t)=0.3, φ (t)=-0.3 and ψ (t)=0.15.God
P=1 is taken through the regulatory factor p of network.Wherein Fig. 6 is site layer simulation result, and curve all can rapidly converge to dbjective state.
Fig. 7 is velocity layer simulation result, this can converge to 0 again making each velocity layer parameter after control adjusts.Fig. 8 is acceleration layer
Simulation result, can converge to 0 making each acceleration layer parameter after control adjusts.
According to the correlation step of design flow diagram, carry out detailed arithmetic analysis for the present invention.First, flown by above-mentioned
The definition of row device attitude variable, the present invention utilizes Quaternion algebra and Kalman filtering scheduling algorithm, it is possible to achieve utilize many rotations
The sensors such as gyroscope and the accelerometer carried on rotor aircraft obtain real-time attitude data θ (t) of aircraft, φ (t) with
And ψ (t), utilize height sensor and position sensor to obtain aircraft position data x (t) in three dimensions, y (t)
With z (t).More than complete flow chart sensing data and obtain the related content of 1.
Analyze process based on physical model above, according to different rotor craft models, set up for this aircraft
Physical model equation and kinetics equation, can complete dynamic analysis by following vehicle dynamics modeling procedure:
Ignore air drag effect suffered by aircraft, physical model can be set up for aerocraft system:
Wherein m is the gross mass of aircraft, and I is 3 × 3 unit matrixs, and J is aircraft moment of inertia matrix, v and w is for flying
The velocity of row device earth axes and angular velocity vector, F and G is respectively aircraft motor output axial thrust load with joint efforts and vows
Amount and the axial thrust load vector of gravity, T is aircraft rotating torque vector;
Set up earth axes XGAnd aircraft body coordinate system XU, wherein between earth axes and body axis system
There is following relation: XU=KXG.In transformational relation, K is the rotational transformation matrix between earth axes and body axis system,
Can be expressed as
Wherein θ (t) is the angle of pitch, and ψ (t) is yaw angle, and φ (t) is roll angle;
Theoretical according to coordinate transform, on the translation direction and rotation direction of aircraft, can according to above physical model
To obtain following kinetics equation in aircraft body coordinate system
Wherein x, y, z is respectively aircraft position coordinates in world coordinate system;Jx、JyAnd JzIt is respectively aircraft at X
The rotary inertia of axle, Y-axis and Z-direction;L is brachium;G is acceleration of gravity;Synthesis controlled quentity controlled variable u1(t)~u4T () is by aircraft
Thrust output and the synthesis torque of motor are constituted.u1T () is making a concerted effort on aircraft vertical ascent direction, u2T () is roll angle
Make a concerted effort in direction, u3T () is to make a concerted effort in angle of pitch direction, u4T () is yaw angle direction composition torque.
Specifically, described step 2) specifically include:
By becoming ginseng convergence differential neurodynamics method for designing, respectively by Z axis height z (t), roll angle φ (t), pitching
Angle θ (t) and yaw angle ψ (t) set out, and design about output controlled quentity controlled variable u1(t)~u4T the ginseng that becomes of () restrains differential neutral net
Systematic parameter departure function;
Respectively according to calculated about output controlled quentity controlled variable u1(t)~u4The system becoming ginseng convergence differential neutral net of (t)
Parameter error function, design becomes ginseng convergence differential Neural Networks Solution device.
Wherein, described by becoming ginseng convergence differential neurodynamics method for designing, respectively by Z axis height z (t), roll angle
φ (t), pitching angle theta (t) and yaw angle ψ (t) set out, and design about output controlled quentity controlled variable u1(t)~u4The change ginseng convergence differential of (t)
The step of the systematic parameter departure function of neutral net specifically includes;
For Z axis height z (t), according to the target setting height value z in Z-directionTAnd actual height value z (t),
Can define on site layer about actual height value z (t) departure function ez1T () is: ez1(t)=z (t)-zT.In order to make actual value
Z (t) can converge to desired value zT, according to becoming ginseng convergence differential neurodynamics method for designing, can design based on deviation letter
The neurodynamics equation of numberWherein γ (t)=tp+ p is time-varying parameter, represents convergency factor
Regulatory factor.According to departure function ez1(t)=z (t)-zT, can obtainBy ez1(t)=z (t)-zTWith
AndSubstitute intoCan obtainNamely
SolveUnderstand According to departure function ez1(t)=z (t)-zT, it is known thatOn if
State formula to set up, then, when reaching dbjective state, site layer z (t) will restrain target zT;According to practical situation, at aircraft
After reaching specified altitude assignment, aircraft is in the speed of vertical directionIt is necessarily equal to 0;Simultaneously as equation (3) do not comprise about
Controlled quentity controlled variable u1(t)~u4The relevant information of (t), it is impossible to realize controlled quentity controlled variable is solved, therefore need further design packet to contain speed
LayerAnd acceleration layerDeparture function, then define
According to becoming ginseng convergence differential neutral net method for designing, kinetics equation based on departure function can be designedWherein γ (t)=tp+ p, according to
Known deviation function ez2The derivative of (t)For:
Will be above with respect to ez2(t) andEquation substitute into equationCan obtain such as minor function
Formula: Namely
Solve the differential equationHave
According toWith Can obtain Understand0 will be converged to;
When equation (4) is set up, velocity layerTo converge to 0 and site layer z (t) target z will be restrainedT.Accordingly, may be used
To consider departure function
For obtaining the realistic model of neutral net, binding kinetics equation (2), equation (5) can be written over Further, in order to simplify formula, departure function EzCan be rewritten as
Ez(t)=az(t)u1(t)-bz(t), (6)
Wherein Namely obtain about output controlled quentity controlled variable u1The departure function of (t);
For roll angle φ (t), for the angle on target φ reachedT, first definition error function eφ1(t)=φ (t)-
φTAndOwing to solving at angle layer, can obtain according to becoming ginseng differential neurodynamics method for designingWherein γ (t)=tp+ p is time-varying parameter, represents convergency factor regulatory factor;By error function
eφ1(t)=φ (t)-φTWithSubstitute into equation Can obtain
According to the differential equationCan solve According to eφ1(t)=φ (t)-φT, can obtainUnderstanding φ (t) will be with super exponential convergence to mesh
Mark angle φT;Due to knownNeeds solve containingEquation;In order to be contained's
Equation, utilizes same method to set error functionAnd Further according to becoming ginseng convergence differential neurodynamics design side
MethodWherein γ (t)=tp+p;Solve the differential equation Can
To obtain deviation
Understand simultaneouslyAvailableSolution beAnd
Can obtain
According to solving knot
Really, it is known that final0 will be converged to.By error functionWithSubstitute into neurodynamics design formulaCan obtain
Namely
This constraint is equivalent to lower deviation such as and converges to zero, i.e.
When departure function converges to 0, aircraft reaches dbjective state.According to described kinetic model equation, deviation
Function can be further converted to
Wherein Namely obtain about output controlled quentity controlled variable u3The departure function of (t);
For pitching angle theta (t), in order to reach angle on target θT, first definition error function eθ1(t)=θ (t)-θTAndOwing to solving at angle layer, can obtain according to becoming ginseng differential neurodynamics method for designingWherein γ (t)=tp+ p is time-varying parameter, represents convergency factor regulatory factor;By error functionWithSubstitute into equationCan obtain
According to the differential equationCan solve According to eθ1(t)=θ (t)-θT, can obtainUnderstanding θ (t) will be with super exponential convergence
To angle on target θT.Due to knownNeeds solve containingEquation;In order to be contained's
Equation, utilizes same method to set error functionAnd Further according to becoming ginseng convergence differential neurodynamics method for designingWherein γ (t)=tp+p;Solve the differential equationPermissible
Obtain deviation Understand simultaneouslyAvailableSolution beAndCan obtain According to solving result, it is known that finalTo converge to
0;By error functionWith Substitute into neurodynamics design formulaCan obtainThe most just
It is
This constraint is equivalent to lower deviation such as and converges to zero, i.e.
When departure function converges to 0, aircraft reaches dbjective state.According to the kinetic model side in claim 2
Journey, departure function can be further converted to
Wherein Namely obtain about output controlled quentity controlled variable u3The departure function of (t);
For yaw angle ψ (t), for the angle on target ψ reachedT, first definition error function eψ1(t)=ψ (t)-ψTAndOwing to solving at angle layer, can obtain according to becoming ginseng differential neurodynamics method for designingWherein γ (t)=tp+ p is time-varying parameter, represents convergency factor regulatory factor;By error function
eψ1(t)=ψ (t)-ψTWithSubstitute into equation Can obtain
According to the differential equationCan solve According to eψ1(t)=ψ (t)-ψT, can obtainUnderstanding ψ (t) will be with super exponential convergence to mesh
Mark angle ψT;Due to knownNeeds solve containingEquation;In order to be contained's
Equation, utilizes same method to set error functionAnd Further according to becoming ginseng convergence differential neurodynamics design side
MethodWherein γ (t)=tp+p.Solve the differential equation Can
To obtain deviation
Understand simultaneouslyAvailableSolution
ForAndCan obtain
According to solving result, it is known that final0 will be converged to;By error function WithSubstitute into nerve dynamic
Mechanics design formulaCan obtain Namely
This constraint is equivalent to lower deviation such as and converges to zero, i.e.
When departure function converges to 0, aircraft reaches dbjective state.According to the kinetic model side in claim 2
Journey, departure function can be further converted to
Wherein Namely obtain about output controlled quentity controlled variable u4The departure function of (t).
Described respectively according to calculated about output controlled quentity controlled variable u1(t)~u4T the ginseng that becomes of () restrains differential neutral net
Systematic parameter departure function, design becomes the step of ginseng convergence differential Neural Networks Solution device and specifically includes:
For Z axis height z (t), utilize and become ginseng convergence differential neutral net method for designing, can designBy equation (6) and its derivative Substitute into equationHave
According to above-mentioned equation with
And aZ(t), bzT the expression formula of (), can write out complete neural network structure expression formula
To sum up can obtain becoming the implicit expression kinetics equation of ginseng convergence differential neutral net;According toHaveSubstitute into equation (6) to have
According to the characteristic of this neutral net, position z (t) will converge to target location z with hyperexponential formTWithWill
Converge to 0;
For roll angle φ (t), according to becoming ginseng convergence differential neurodynamics method for designing, can designNamelyAccording to
Above-mentioned equation, has
Solve the differential equationHave WhereinTherefore have
Also the solution of equation (21) it is;
For pitching angle theta (t), according to becoming ginseng convergence differential neurodynamics method for designing, can designNamelyAccording to upper
State equation, have
Solve the differential equationHave WhereinTherefore have
Also the solution of equation (23) it is;
For yaw angle ψ (t), according to becoming ginseng convergence differential neurodynamics method for designing, can designNamelyAccording to
Above-mentioned equation, has
Solve the differential equationHave WhereinTherefore have
Also the solution of equation (25) it is;
Utilize neutral net equation (20), (22), (24) and (26), solve synthesis controlled quentity controlled variable u1(t)~u4T () is
The controlled quentity controlled variable of corresponding aircraft flight demand, in like manner, can obtain controlled quentity controlled variable u according to z (t)1The neutral net equation of (t), root
U can be obtained according to θ (t)3T (), can obtain u according to ψ (t)4(t), concrete as follows:
Wherein
Controlled quentity controlled variable u that will solve1(t)~u4T () is carried out not according to structure and the motor number of different rotor crafts
Same output controls distribution.
According to controlled quentity controlled variable u calculated by above-mentioned Neural Networks Solution process1(t)~u4T (), for the knot of different aircraft
Structure and motor number, realized the control of each motor, to sum up complete flow chart motor by corresponding motor control allocation
Control allocation and motor control.The present invention can be completed according to above-mentioned steps.
The above embodiment of the present invention is only for clearly demonstrating example of the present invention, and is not to the present invention
The restriction of embodiment.For those of ordinary skill in the field, can also make on the basis of the above description
The change of other multi-form or variation.Here without also cannot all of embodiment be given exhaustive.All the present invention's
Any amendment, equivalent and the improvement etc. made within spirit and principle, should be included in the protection of the claims in the present invention
Within the scope of.
Claims (5)
1. the stabilized flight control method of rotor unmanned aircraft more than a kind, it is characterised in that comprise the steps:
1) flown with position sensor acquisition by airborne attitude transducer on many rotor unmanned aircrafts and corresponding height
The flight real-time running data of row device self, is set up vehicle dynamics model, and is carried by many rotor unmanned aircrafts
Processor the kinematics problem of aircraft is carried out corresponding dissection process;
2) according to becoming ginseng convergence differential neurodynamics method for designing, the change ginseng convergence of design multi-rotor aerocraft kinetic model
Differential Neural Networks Solution device;
3) utilize step 1) in the aircraft real-time running data and the targeted attitude data that obtain, by step 2) designed by change
Ginseng convergence differential Neural Networks Solution device solves the output controlled quentity controlled variable of aircraft motor;
4) by step 3) solving result pass to aircraft motor governor control many rotor unmanned aircrafts motion.
The stabilized flight control method of a kind of many rotor unmanned aircrafts the most according to claim 1, it is characterised in that institute
State and set up vehicle dynamics model, and the motion knowledge that the processor carried by many rotor unmanned aircrafts is to aircraft
Topic carries out the step of corresponding dissection process and specifically includes:
Ignore air drag effect suffered by aircraft, physical model can be set up for aerocraft system:
Wherein m is the gross mass of aircraft, and I is 3 × 3 unit matrixs, and J is aircraft moment of inertia matrix, v and w is aircraft
The velocity of earth axes and angular velocity vector, F and G is respectively aircraft motor output axial thrust load vector with joint efforts
The axial thrust load vector of gravity, T is aircraft rotating torque vector;
Set up earth axes XGAnd aircraft body coordinate system XU, wherein exist between earth axes and body axis system
Following relation: XU=KXG, in transformational relation, K is the rotational transformation matrix between earth axes and body axis system, permissible
It is expressed as
Wherein θ (t) is the angle of pitch, and ψ (t) is yaw angle, and φ (t) is roll angle;
Theoretical according to coordinate transform, on the translation direction and rotation direction of aircraft, can obtain according to above physical model
Obtain the kinetics equation in aircraft body coordinate system as follows
Wherein x, y, z is respectively aircraft position coordinates in world coordinate system;Jx、JyAnd JzIt is respectively aircraft at X-axis, Y
Axle and the rotary inertia of Z-direction;L is brachium;G is acceleration of gravity;Synthesis controlled quentity controlled variable u1(t)~u4T () is by aircraft motor
Thrust output and synthesis torque constitute, u1T () is making a concerted effort on aircraft vertical ascent direction, u2T () is roll angle direction
Make a concerted effort, u3T () is to make a concerted effort in angle of pitch direction, u4T () is yaw angle direction composition torque.
The stabilized flight control method of a kind of many rotor unmanned aircrafts the most according to claim 2, it is characterised in that institute
State step 2) specifically include:
By becoming ginseng convergence differential neurodynamics method for designing, respectively by Z axis height z (t), roll angle φ (t), pitching angle theta
T () and yaw angle ψ (t) set out, design about output controlled quentity controlled variable u1(t)~u4The system becoming ginseng convergence differential neutral net of (t)
Parameter error function;
Respectively according to calculated about output controlled quentity controlled variable u1(t)~u4The systematic parameter becoming ginseng convergence differential neutral net of (t)
Departure function, design becomes ginseng convergence differential Neural Networks Solution device.
The stabilized flight control method of a kind of many rotor unmanned aircrafts the most according to claim 3, it is characterised in that: institute
State by becoming ginseng convergence differential neurodynamics method for designing, respectively by Z axis height z (t), roll angle φ (t), pitching angle theta (t)
Set out with yaw angle ψ (t), design about output controlled quentity controlled variable u1(t)~u4The system ginseng becoming ginseng convergence differential neutral net of (t)
The step of number departure function specifically includes:
For Z axis height z (t), according to the target setting height value z in Z-directionTAnd actual height value z (t), at site layer
On can define about actual height value z (t) departure function ez1T () is: ez1(t)=z (t)-zT, in order to make actual value z (t) energy
Enough converge to desired value zT, according to becoming ginseng convergence differential neurodynamics method for designing, god based on departure function can be designed
Through kinetics equationWherein γ (t)=tp+ p is time-varying parameter, represent convergency factor regulation because of
Son;According to departure function ez1(t)=z (t)-zT, can obtainBy ez1(t)=z (t)-zTAndSubstitute intoCan obtainNamely
SolveUnderstand According to departure function ez1(t)=z (t)-zT, it is known thatOn if
State formula to set up, then, when reaching dbjective state, site layer z (t) will restrain target zT;According to practical situation, at aircraft
After reaching specified altitude assignment, aircraft is in the speed of vertical directionIt is necessarily equal to 0;Simultaneously as equation (3) do not comprise about
Controlled quentity controlled variable u1(t)~u4The relevant information of (t), it is impossible to realize controlled quentity controlled variable is solved, therefore need further design packet to contain speed
LayerAnd acceleration layerDeparture function, then define
According to becoming ginseng convergence differential neutral net method for designing, kinetics equation based on departure function can be designedWherein γ (t)=tp+ p, according to
Known deviation function ez2The derivative of (t)For:
Will be above with respect to ez2(t) andEquation substitute into equationCan obtain such as minor function
Formula: Namely
Solve the differential equationHave
According toWith Can obtain Understand0 will be converged to;
When equation (4) is set up, velocity layerTo converge to 0 and site layer z (t) target z will be restrainedT, accordingly, Ke Yikao
Consider departure function
For obtaining the realistic model of neutral net, binding kinetics equation (2), equation (5) can be written over Further, in order to simplify formula, departure function EZCan be rewritten as
EZ(t)=aZ(t)u1(t)-bZ(t), (6)
Wherein Namely obtain about output controlled quentity controlled variable u1The departure function of (t);
For roll angle φ (t), for the angle on target φ reachedT, first definition error function eφ1(t)=φ (t)-φTAndOwing to solving at angle layer, can obtain according to becoming ginseng differential neurodynamics method for designingWherein γ (t)=tp+ p is time-varying parameter, represents convergency factor regulatory factor;By error function
eφ1(t)=φ (t)-φTWithSubstitute into equation Can obtain
According to the differential equationCan solve According to eφ1(t)=φ (t)-φT, can obtainUnderstanding φ (t) will be with super exponential convergence to target angle
Degree φT;Due to knownNeeds solve containingEquation;In order to be containedEquation, utilize same
Method sets error functionAnd Further according to becoming ginseng convergence differential neurodynamics design side
MethodWherein γ (t)=tp+p;Solve the differential equation Can
To obtain deviation
Understand simultaneouslyAvailableSolution beAnd
Can obtain
According to asking
Solve result, it is known that final0 will be converged to;By error functionWithSubstitute into neurodynamics design formulaCan obtain
Namely
This constraint is equivalent to lower deviation such as and converges to zero, i.e.
When departure function converges to 0, aircraft reaches dbjective state, according to described kinetic model equation, departure function
Can be further converted to
Wherein
Namely obtain about output controlled quentity controlled variable u2The departure function of (t);
For pitching angle theta (t), in order to reach angle on target θT, first definition error function eθ1(t)=θ (t)-θTAndOwing to solving at angle layer, can obtain according to becoming ginseng differential neurodynamics method for designingWherein γ (t)=tp+ p is time-varying parameter, represents convergency factor regulatory factor;By error function
eθ1(t)=θ (t)-θTWithSubstitute into equationCan obtain
According to the differential equationCan solve According to eθ1(t)=θ (t)-θT, can obtainUnderstanding θ (t) will be with super exponential convergence to mesh
Mark angle, θT;Due to knownNeeds solve containingEquation;In order to be containedSide
Journey, utilizes same method to set error functionAnd Further according to becoming ginseng convergence differential neurodynamics method for designingWherein γ (t)=tp+p;Solve the differential equationPermissible
Obtain deviation Understand simultaneouslyAvailableSolution beAndCan obtain According to solving result, it is known that finalTo converge to
0;By error functionWith Substitute into neurodynamics design formulaCan obtainNamely
This constraint is equivalent to lower deviation such as and converges to zero, i.e.
When departure function converges to 0, aircraft reaches dbjective state;According to the kinetic model equation in claim 2, partially
Difference function can be further converted to
Wherein,
Namely obtain about output controlled quentity controlled variable u3The departure function of (t);
For yaw angle ψ (t), for the angle on target ψ reachedT, first definition error function eψ1(t)=ψ (t)-ψTAndOwing to solving at angle layer, can obtain according to becoming ginseng differential neurodynamics method for designingWherein γ (t)=tp+ p is time-varying parameter, represents convergency factor regulatory factor;By error function
eψ1(t)=ψ (t)-ψTWithSubstitute into equation Can obtain
According to the differential equationCan solve According to eψ1(t)=ψ (t)-ψT, can obtainUnderstanding ψ (t) will be with super exponential convergence to mesh
Mark angle ψT;Due to knownNeeds solve containingEquation;In order to be containedSide
Journey, utilizes same method to set error functionAnd Further according to becoming ginseng convergence differential neurodynamics design side
MethodWherein γ (t)=tp+p;Solve the differential equation Can
To obtain deviation
Understand simultaneouslyAvailable's
Xie Wei
AndCan obtain
According to solving result, it is known that final0 will be converged to;By error function WithSubstitute into nerve dynamic
Mechanics design formulaCan obtain Namely
This constraint is equivalent to lower deviation such as and converges to zero, i.e.
When departure function converges to 0, aircraft reaches dbjective state;According to the kinetic model equation in claim 2, partially
Difference function can be further converted to
Wherein,
Namely obtain about output controlled quentity controlled variable u4The departure function of (t).
The stabilized flight control method of many rotor unmanned aircrafts the most according to claim 4, it is characterised in that described point
Not according to calculated about output controlled quentity controlled variable u1(t)~u4The systematic parameter deviation letter becoming ginseng convergence differential neutral net of (t)
Number, design becomes the step of ginseng convergence differential Neural Networks Solution device and specifically includes:
For Z axis height z (t), utilize and become ginseng convergence differential neutral net method for designing, can designBy equation (6) and its derivative Substitute into equationHave
According to above-mentioned equation and aZ
(t), bZT the expression formula of (), can write out complete neural network structure expression formula
To sum up can obtain becoming the implicit expression kinetics equation of ginseng convergence differential neutral net;According to HaveSubstitute into equation (6) to have
According to the characteristic of this neutral net, position z (t) will converge to target location z with hyperexponential formTWithWill convergence
To 0;
For roll angle φ (t), according to becoming ginseng convergence differential neurodynamics method for designing, can designNamelyAccording to
Above-mentioned equation, has
Solve the differential equationHave WhereinTherefore have
Also the solution of equation (21) it is;
For pitching angle theta (t), according to becoming ginseng convergence differential neurodynamics method for designing, can designNamelyAccording to upper
State equation, have
Solve the differential equationHave WhereinTherefore have
Also the solution of equation (23) it is;
For yaw angle ψ (t), according to becoming ginseng convergence differential neurodynamics method for designing, can designNamelyAccording to
Above-mentioned equation, has
Solve the differential equationHave WhereinTherefore have
Also the solution of equation (25) it is;
Utilize neutral net equation (20), (22), (24) and (26), solve synthesis controlled quentity controlled variable u1(t)~u4T () is correspondence
The controlled quentity controlled variable of aircraft flight demand, in like manner, can obtain controlled quentity controlled variable u according to z (t)1T the neutral net equation of (), according to θ
T () can obtain u3T (), can obtain u according to ψ (t)4(t), concrete as follows:
Wherein
Controlled quentity controlled variable u that will solve1(t)~u4T () carries out different according to structure and the motor number of different rotor crafts
Output controls distribution.
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