CN107256028A - Lost-control protection control algolithm under the diagonal power loss state of quadrotor - Google Patents
Lost-control protection control algolithm under the diagonal power loss state of quadrotor Download PDFInfo
- Publication number
- CN107256028A CN107256028A CN201710606622.2A CN201710606622A CN107256028A CN 107256028 A CN107256028 A CN 107256028A CN 201710606622 A CN201710606622 A CN 201710606622A CN 107256028 A CN107256028 A CN 107256028A
- Authority
- CN
- China
- Prior art keywords
- mrow
- msub
- mtd
- mtr
- mfrac
- 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.)
- Granted
Links
- 230000000694 effects Effects 0.000 claims abstract description 5
- 238000013178 mathematical model Methods 0.000 claims description 3
- 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 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009194 climbing Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- 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
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Other Investigation Or Analysis Of Materials By Electrical Means (AREA)
- Medicines Containing Antibodies Or Antigens For Use As Internal Diagnostic Agents (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
Claims (3)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710606622.2A CN107256028B (en) | 2017-07-24 | 2017-07-24 | Out-of-control protection control algorithm of four-rotor aircraft in diagonal power loss state |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710606622.2A CN107256028B (en) | 2017-07-24 | 2017-07-24 | Out-of-control protection control algorithm of four-rotor aircraft in diagonal power loss state |
Publications (2)
Publication Number | Publication Date |
---|---|
CN107256028A true CN107256028A (en) | 2017-10-17 |
CN107256028B CN107256028B (en) | 2020-05-12 |
Family
ID=60025714
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201710606622.2A Active CN107256028B (en) | 2017-07-24 | 2017-07-24 | Out-of-control protection control algorithm of four-rotor aircraft in diagonal power loss state |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN107256028B (en) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108693372A (en) * | 2018-04-13 | 2018-10-23 | 南京航空航天大学 | A kind of course axis angular rate method of estimation of quadrotor |
CN108759814A (en) * | 2018-04-13 | 2018-11-06 | 南京航空航天大学 | A kind of quadrotor roll axis angular rate and pitch axis Attitude rate estimator method |
CN108827302A (en) * | 2018-04-24 | 2018-11-16 | 大连理工大学 | Multi-rotor aerocraft air navigation aid based on rotor tachometric survey |
CN109901606A (en) * | 2019-04-11 | 2019-06-18 | 大连海事大学 | A kind of mixing finite time control method for quadrotor Exact trajectory tracking |
CN110271661A (en) * | 2019-06-10 | 2019-09-24 | 河南华讯方舟航空科技有限公司 | Coaxial eight-rotary wing aircraft breaks paddle guard method |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103135553A (en) * | 2013-01-21 | 2013-06-05 | 南京航空航天大学 | Four-rotor aircraft fault-tolerant control method |
CN104965414A (en) * | 2015-06-30 | 2015-10-07 | 天津大学 | Tolerant control method for partial failure of four-rotor unmanned aerial vehicle actuator |
US20160023755A1 (en) * | 2014-05-05 | 2016-01-28 | King Fahd University Of Petroleum And Minerals | System and method for control of quadrotor air vehicles with tiltable rotors |
CN105353615A (en) * | 2015-11-10 | 2016-02-24 | 南京航空航天大学 | Active fault tolerance control method of four-rotor aircraft based on sliding-mode observer |
CN106527137A (en) * | 2016-11-25 | 2017-03-22 | 天津大学 | Observer-based quadrotor unmanned aerial vehicle fault-tolerant control method |
CN106933104A (en) * | 2017-04-21 | 2017-07-07 | 苏州工业职业技术学院 | A kind of quadrotor attitude based on DIC PID and the mixing control method of position |
-
2017
- 2017-07-24 CN CN201710606622.2A patent/CN107256028B/en active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103135553A (en) * | 2013-01-21 | 2013-06-05 | 南京航空航天大学 | Four-rotor aircraft fault-tolerant control method |
US20160023755A1 (en) * | 2014-05-05 | 2016-01-28 | King Fahd University Of Petroleum And Minerals | System and method for control of quadrotor air vehicles with tiltable rotors |
CN104965414A (en) * | 2015-06-30 | 2015-10-07 | 天津大学 | Tolerant control method for partial failure of four-rotor unmanned aerial vehicle actuator |
CN105353615A (en) * | 2015-11-10 | 2016-02-24 | 南京航空航天大学 | Active fault tolerance control method of four-rotor aircraft based on sliding-mode observer |
CN106527137A (en) * | 2016-11-25 | 2017-03-22 | 天津大学 | Observer-based quadrotor unmanned aerial vehicle fault-tolerant control method |
CN106933104A (en) * | 2017-04-21 | 2017-07-07 | 苏州工业职业技术学院 | A kind of quadrotor attitude based on DIC PID and the mixing control method of position |
Non-Patent Citations (3)
Title |
---|
FARID SHARIFI: "Fault Tolerant Control of a Quadrotor UAV using Sliding Mode Control", 《2010 CONFERENCE ON CONTROL AND FAULT TOLERANT SYSTEMS》 * |
MARK W. MUELLER: "Stability and control of a quadrocopter despite the complete loss of one, two, or three propellers", 《2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS & AUTOMATION (ICRA)》 * |
宫勋: "四旋翼飞行器的容错姿态稳定控制", 《电光与控制》 * |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108693372A (en) * | 2018-04-13 | 2018-10-23 | 南京航空航天大学 | A kind of course axis angular rate method of estimation of quadrotor |
CN108759814A (en) * | 2018-04-13 | 2018-11-06 | 南京航空航天大学 | A kind of quadrotor roll axis angular rate and pitch axis Attitude rate estimator method |
CN108759814B (en) * | 2018-04-13 | 2020-07-07 | 南京航空航天大学 | Method for estimating transverse rolling axis angular velocity and pitching axis angular velocity of four-rotor aircraft |
CN108693372B (en) * | 2018-04-13 | 2020-07-07 | 南京航空航天大学 | Course axis angular velocity estimation method of four-rotor aircraft |
CN108827302A (en) * | 2018-04-24 | 2018-11-16 | 大连理工大学 | Multi-rotor aerocraft air navigation aid based on rotor tachometric survey |
CN109901606A (en) * | 2019-04-11 | 2019-06-18 | 大连海事大学 | A kind of mixing finite time control method for quadrotor Exact trajectory tracking |
CN110271661A (en) * | 2019-06-10 | 2019-09-24 | 河南华讯方舟航空科技有限公司 | Coaxial eight-rotary wing aircraft breaks paddle guard method |
Also Published As
Publication number | Publication date |
---|---|
CN107256028B (en) | 2020-05-12 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN107256028B (en) | Out-of-control protection control algorithm of four-rotor aircraft in diagonal power loss state | |
Naidoo et al. | Development of an UAV for search & rescue applications | |
CN111766899B (en) | Interference observer-based quad-rotor unmanned aerial vehicle cluster anti-interference formation control method | |
Duc et al. | The quadrotor MAV system using PID control | |
CN109062042B (en) | Limited time track tracking control method of rotor craft | |
CN104765272A (en) | Four-rotor aircraft control method based on PID neural network (PIDNN) control | |
CN106707754A (en) | Switching system-based modeling and adaptive control method for cargo handling unmanned gyroplane | |
CN107976902A (en) | A kind of enhanced constant speed Reaching Law sliding-mode control of quadrotor UAV system | |
CN104571120A (en) | Posture nonlinear self-adaptive control method of quad-rotor unmanned helicopter | |
Matouk et al. | Quadrotor position and attitude control via backstepping approach | |
Hançer et al. | Robust hovering control of a quad tilt-wing UAV | |
Lifeng et al. | Trajectory tracking of quadrotor aerial robot using improved dynamic inversion method | |
CN111338369B (en) | Multi-rotor flight control method based on nonlinear inverse compensation | |
Jiang et al. | Control platform design and experiment of a quadrotor | |
Qingtong et al. | Backstepping-based attitude control for a quadrotor UAV using nonlinear disturbance observer | |
Fang et al. | Design and nonlinear control of an indoor quadrotor flying robot | |
CN107942672B (en) | Four-rotor aircraft output limited backstepping control method based on symmetric time invariant obstacle Lyapunov function | |
CN116954240A (en) | Anti-saturation and anti-interference position and posture tracking control method for four-rotor unmanned aerial vehicle | |
Das et al. | An algorithm for landing a quadrotor unmanned aerial vehicle on an oscillating surface | |
CN108107726A (en) | A kind of limited backstepping control method of quadrotor output based on symmetrical time-varying obstacle liapunov function | |
Qi et al. | Trajectory tracking strategy of quadrotor with output delay | |
Zhong et al. | Transition attitude control of a tail-sitter UAV based on active disturbance rejection control architecture | |
Mahfouz et al. | Quadrotor unmanned aerial vehicle controller design and synthesis | |
Baldini et al. | Modeling and control of a telescopic quadrotor using disturbance observer based control | |
CN109917651A (en) | A kind of Spacecraft Attitude Control that symmetrical time-varying output is limited |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
CB03 | Change of inventor or designer information |
Inventor after: Wu Yuhu Inventor after: Hu Kaijian Inventor after: Sun Ximing Inventor after: Wang Rui Inventor after: Wu Zhenyu Inventor before: Hu Kaijian Inventor before: Wu Yuhu Inventor before: Sun Ximing Inventor before: Wang Rui Inventor before: Wu Zhenyu |
|
CB03 | Change of inventor or designer information | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right |
Effective date of registration: 20220714 Address after: 110000 0306-0133, No. 75-1, Jinfeng street, Shenfu demonstration area, Shenyang, Liaoning Province Patentee after: Liaoning Lucheng Intelligent Manufacturing Co.,Ltd. Address before: 116024 No. 2 Ling Road, Ganjingzi District, Liaoning, Dalian Patentee before: DALIAN University OF TECHNOLOGY |
|
TR01 | Transfer of patent right |