CN108037764A - A kind of unmanned helicopter active disturbance rejection flight position control method - Google Patents
A kind of unmanned helicopter active disturbance rejection flight position control method Download PDFInfo
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- 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
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- 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
- 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 present invention relates to unmanned aerial vehicle (UAV) control field, specifically a kind of unmanned helicopter active disturbance rejection flight position control method.The present invention includes interconnection control, vertical passage control, altitude channel control, and each passage control process comprises the following steps：According to the position of unmanned helicopter, observation state amount and expansion state amount are obtained；Inputted according to controller, observation state amount and expansion state amount, the controller for obtaining each passage export.The coupling of each interchannel of present system can be considered as disturbing, and automatic disturbance rejection controller can be by the disturbance estimation of extended state observer and disturbance compensation, by its coupling counters.The invention is a kind of Non-Model Controller, and the accurate model of controlled device is not required in it, but relies on error to control.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicle control, in particular to an active disturbance rejection flight position control method for an unmanned helicopter.
Background
The flight control system of the unmanned helicopter mainly comprises two parts, wherein the first part is a speed and attitude control system and is mainly responsible for stability augmentation, so that the unmanned helicopter is in a stable state under the condition that external conditions are not changed and is the basis for the autonomous flight of the aircraft, and the second part is a position control system and is used for controlling the flight path of the aircraft so that the unmanned helicopter can fly according to a route or a waypoint given by a user.
Attitude control and speed control of traditional helicopter flight control generally use a classical control theory as a theoretical basis, and a PID (proportion integration differentiation) controller is used as a controller for control. PID is a model-free controller that can control only according to the error of the controlled variable, so that the controlled object can be regarded as a black box with only input and output when designing a control system based on the PID controller. Just because the PID control technology is based on using errors to control the errors, the PID control technology can occupy the dominance in practical engineering application without a complex mathematical modeling process. However, since the PID control technique is an early control technique, it is affected by the theoretical level and the technical level of the development times, and there is no advanced digital computer and various digital signal processing techniques using the digital computer when designing the PID, the PID control technique at that time enters the control project with many "unsatisfactory defects" at present, and completes most of the control tasks excellently, thereby occupying an important position in the field of the control project.
The following four defects of the PID control technology are overcome: the control effect of the original error generated by directly subtracting e (t) -v (t) -y (t) as the input of the controller is not ideal; input of differential elementThere is no good algorithm to compute; linear combinations are not necessarily the best way to combine; integral of error signal e (t) -There are many negative effects of the introduction of (c). Clearly, the drawbacks of the above four aspects are all the problems that arise in the large environment in which PID appears that year. Under the conditions of advanced digital signal processing, more means are provided for overcoming the defects. The process control idea of reducing errors by carrying out the essence of the PID control technology, namely errors, utilizes the modern advanced digital signal processing technology and reasonably develops the special nonlinear effect to discuss the process of overcoming the defects of the four aspects of the PID control technology, and the novel practical digital control technology, namely the active disturbance rejection control technology, is promoted.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an active disturbance rejection flight position control method of an unmanned helicopter.
The technical scheme adopted by the invention for realizing the purpose is as follows: an active disturbance rejection flight position control method of an unmanned helicopter comprises transverse channel control, longitudinal channel control and height channel control, wherein each channel control process comprises the following steps:
obtaining an observation state quantity and an expansion state quantity according to the position of the unmanned helicopter;
and obtaining the controller output of each channel according to the controller input, the observation state quantity and the expansion state quantity.
The longitudinal channel control comprises the following steps:
position x of x-axis direction under computer body coordinate systemb：
xb＝xecosψ+yesinψ
Wherein x iseAnd yeThe positions of the unmanned helicopter in the X-axis and Y-axis directions under a ground coordinate system are respectively, and psi is a yaw angle;
observed state quantity is z1＝z1+h(z2-c1e+u)；
The amount of expansion state is z2＝z2+h(-d1fe)；
Wherein h is a control period, and e is z1-xbFe is fal (e,0.5, h), fal () is the fal function, u is the output of the active disturbance rejection controller for the vertical channel, z is the output of the active disturbance rejection controller for the vertical channel1And z2Is 0;
the output of the active disturbance rejection controller of the longitudinal channel is u- β1fal(e1,α1,δ1)-z2；
Wherein e is1＝x′b-z1，x′bInput to the active disturbance rejection controller for the longitudinal channel, representing the target distance to the forward flight, α1，β1，δ1Are controller parameters related to the model of the unmanned helicopter.
The cross channel control comprises the steps of:
calculating the position x of the unmanned helicopter in the y-axis directionb：
yb＝xesinψ+yecosψ
Wherein,xeand yeThe positions of the unmanned helicopter in the X-axis and Y-axis directions under a ground coordinate system are respectively, and psi is a yaw angle;
observed state quantity is z1＝z1+h(z2-c1e+u)；
The amount of expansion state is z2＝z2+h(-d1fe)；
Wherein h is a control period, and e is z1-ybFe is fal (e,0.5, h), fal () is the fal function, u is the output of the active disturbance rejection controller for the cross-channel, z is the output of the active disturbance rejection controller for the cross-channel1And z2Is 0;
the output of the active disturbance rejection controller of the cross channel is u- β1fal(e1,α1,δ1)-z2；
Wherein e is1＝y′b-z1，y′bInput to the active disturbance rejection controller for the cross-channel, representing the target distance of the side flight, α1，β1，δ1Are controller parameters related to the model of the unmanned helicopter.
The height channel control comprises the following steps:
observed state quantity is z1＝z1+h(z2-c1e+u)；
The amount of expansion state is z2＝z2+h(-d1fe)；
Wherein h is a control period, and e is z1-zeFe is fal (e,0.5, h), fal () is the fal function, u is the output of the active disturbance rejection controller for the vertical channel, z is the output of the active disturbance rejection controller for the vertical channeleFor the position of the unmanned helicopter in the Z-axis direction under the ground coordinate system, Z1And z2Is 0;
the output of the active disturbance rejection controller of the longitudinal channel is u- β1fal(e1,α1,δ1)-z2；
Wherein e is1＝z′b-z1，z′bInput to the active disturbance rejection controller for the altitude channel, representing the target distance to fly vertically, α1，β1，δ1Are controller parameters related to the model of the unmanned helicopter.
The coupling between the channels of the system can be regarded as disturbance, and the coupling can be counteracted by the active disturbance rejection controller through the disturbance estimation and the disturbance compensation of the extended state observer. The invention is a modeless controller that does not require an accurate model of the controlled object, but relies on error for control.
Drawings
FIG. 1 is a block diagram of the present invention;
FIG. 2 is a diagram of simulation results of an active disturbance rejection controller;
FIG. 3 is a diagram of PID controller simulation results;
FIG. 4 is a graph of the output of the active disturbance rejection controller;
fig. 5 is a graph of the output of a PID controller.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
The position control system synthesizes the waypoint targets given by the user, plans a proper route, converts the proper route into a proper speed instruction and issues the speed instruction to each channel. Since the waypoints given by the user are usually coordinate information in the ground coordinate system, the position control system should plan a reasonable flight pattern.
Position controller under the organism coordinate system: the feedback information of the position controller is different from that of the speed and attitude controller, the feedback is not feedback under a body coordinate system, but is a coordinate system after a ground coordinate system rotates through a yaw angle, and an XOY plane of the coordinate system is still horizontal to the ground, so that the flying distance is ensured to be stable relative to the ground. The original northeast waypoint information can be conveniently converted into instructions of flying a few meters ahead and adjusting the course and then sent to a speed control system.
As shown in fig. 1, the position controller has three channels, which correspond to the three channels of the velocity controller, i.e., the longitudinal direction, the lateral direction, and the height, respectively. The algorithm for the longitudinal channel is as follows
xb＝xecosψ+yesinψ
e＝z1-xb
fe＝fal(e,0.5,h)
z1＝z1+h(z2-c1e+u)
z2＝z2+h(-d1fe)
e1＝x′b-z1
u＝β1fal(e1,α1,δ1)-z2
Wherein, x'bThe controller inputs are, u is the output.
The algorithm for the transverse channel is as follows
yb＝xesinψ+yecosψ
e＝z1-yb
fe＝fal(e,0.5,h)
z1＝z1+h(z2-c1e+u)
z2＝z2+h(-d1fe)
e1＝y′b-z1
u＝β1fal(e1,α1,δ1)-z2
Wherein y'bIs the controller input and u is the output.
The algorithm for the altitude channel is as follows:
e＝z1-ze
fe＝fal(e,0.5,h)
z1＝z1+h(z2-c1e+u)
z2＝z2+h(-d1fe)
e1＝z′b-z1
u＝β1fal(e1,α1,δ1)-z2
wherein z'bIs the controller input and u is the output.
Of the above formulas, α1，β1，δ1As controller parameters, α1，β1，δ1In a simulated embodiment of the algorithm of the present invention applied for controller parameters related to model of unmanned helicopter α1、β1、δ1Respectively taken as 1, 0.5 and 0.001.
In order to clearly embody the advantages of the active disturbance rejection controller, the simplest second-order integral model is used to compare the control effects of the active disturbance rejection controller and the PID controller, as shown in FIGS. 2-5.
Claims (4)
1. An active disturbance rejection flight position control method of an unmanned helicopter is characterized by comprising transverse channel control, longitudinal channel control and height channel control, wherein each channel control process comprises the following steps:
obtaining an observation state quantity and an expansion state quantity according to the position of the unmanned helicopter;
and obtaining the controller output of each channel according to the controller input, the observation state quantity and the expansion state quantity.
2. The unmanned helicopter active disturbance rejection flight position control method of claim 1, wherein the longitudinal channel control comprises the steps of:
position x of x-axis direction under computer body coordinate systemb：
xb＝xecosψ+yesinψ
Wherein x iseAnd yeThe positions of the unmanned helicopter in the X-axis and Y-axis directions under a ground coordinate system are respectively, and psi is a yaw angle;
observed state quantity is z1＝z1+h(z2-c1e+u)；
The amount of expansion state is z2＝z2+h(-d1fe)；
Wherein h is a control period, and e is z1-xbFe is fal (e,0.5, h), fal () is the fal function, u is the output of the active disturbance rejection controller for the vertical channel, z is the output of the active disturbance rejection controller for the vertical channel1And z2Is 0;
the output of the active disturbance rejection controller of the longitudinal channel is u- β1fal(e1,α1,δ1)-z2；
Wherein e is1＝xb′-z1，xb' input to the active disturbance rejection controller for longitudinal channel, representing target distance to fly ahead, α1，β1，δ1Are controller parameters related to the model of the unmanned helicopter.
3. The unmanned helicopter active disturbance rejection flight position control method of claim 1, wherein the lateral channel control comprises the steps of:
calculating the position x of the unmanned helicopter in the y-axis directionb：
yb＝xesinψ+yecosψ
Wherein x iseAnd yeThe positions of the unmanned helicopter in the X-axis and Y-axis directions under a ground coordinate system are respectively, and psi is a yaw angle;
observed state quantity is z1＝z1+h(z2-c1e+u)；
The amount of expansion state is z2＝z2+h(-d1fe)；
Wherein h is a control period, and e is z1-ybFe is fal (e,0.5, h), fal () is the fal function, u is the output of the active disturbance rejection controller for the cross-channel, z is the output of the active disturbance rejection controller for the cross-channel1And z2Is 0;
the output of the active disturbance rejection controller of the cross channel is u- β1fal(e1,α1,δ1)-z2；
Wherein e is1＝yb′-z1，yb' input to the active disturbance rejection controller for the lateral channel, representing the target distance for the side flight, α1，β1，δ1Are controller parameters related to the model of the unmanned helicopter.
4. The method of claim 1, wherein the altitude passage control comprises the steps of:
observed state quantity is z1＝z1+h(z2-c1e+u)；
The amount of expansion state is z2＝z2+h(-d1fe)；
Wherein h is a control period, and e is z1-zeFe is fal (e,0.5, h), fal () is the fal function, u is the output of the active disturbance rejection controller for the vertical channel, z is the output of the active disturbance rejection controller for the vertical channeleFor the position of the unmanned helicopter in the Z-axis direction under the ground coordinate system, Z1And z2Is 0;
the output of the active disturbance rejection controller of the longitudinal channel is u- β1fal(e1,α1,δ1)-z2；
Wherein e is1＝zb′-z1，zb' input to the active disturbance rejection controller for altitude channel, representing target distance to fly vertically, α1，β1，δ1Are controller parameters related to the model of the unmanned helicopter.
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