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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- CN108037764A CN108037764A CN201711055319.4A CN201711055319A CN108037764A CN 108037764 A CN108037764 A CN 108037764A CN 201711055319 A CN201711055319 A CN 201711055319A CN 108037764 A CN108037764 A CN 108037764A
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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 present invention relates to unmanned aerial vehicle (UAV) control field, specifically a kind of unmanned helicopter active disturbance rejection flight position controlling party
Method.
Background technology
Unmanned helicopter flight control system is mainly made of two parts, and Part I is speed and attitude control system,
It is steady to be mainly responsible for increasing, unmanned helicopter is in stable state in the case of external condition is immovable, is that aircraft can be certainly
The basis of main flight, Part II are position control system, its effect is to control the flight path of aircraft, can be by
The course line or destination given according to user is flown.
Conventional helicopters fly the gesture stability of control and speed control be usually it is more use classical control theory as theory according to
It is controlled according to, PID controller as its controller.PID is a kind of Non-Model Controller, it can only become according to controlled
The error of amount is controlled, so in control system of the design based on PID controller as, controlled device can regard to one
The black box for only inputting, exporting.Exactly because PID control technology is to control error based on using error, it is not necessary to complicated
Process of mathematical modeling, it could occupy dominant position among actual engineer application.But since PID control technology is
One control technology more early occurred, therefore it is influenced be subject to theoretical level, the technical merit backwardness in research and development epoch, is designed
Not advanced digital computer and the various Digital Signal Processings completed using digital computer during PID, at that time
PID control technology with many it now appear that " the defects of unsatisfactory " is entered in control engineering, complete with flying colors big
Partial control task, so that occupied in this field of control engineering and its consequence.
The defects of following four aspects of PID control technology：By way of e (t)=υ (t)-y (t) so directly subtracts each other
The initial error of generation is unsatisfactory as the control effect of the input of controller；The input of differentiation elementWithout good
Algorithm calculate；Linear combination is not necessarily best combination；The integration of error signal e (t)-Introducing
There are many negative interactions.Obviously, in terms of aforementioned four the defects of, is asked caused by under the overall situation that age occurs in PID
Topic.Under conditions of nowadays Digital Signal Processing prosperity, we just have more means to make up these defects.Implement
The marrow of PID control technology --- error reduces the process control thought of error, utilizes modern advanced Digital Signal Processing
Technology, and the special nonlinear effect of reasonable development inquires into the process for four aspect defects for overcoming above-mentioned PID control technology
In, expedite the emergence of novel practical digital control technology --- Auto Disturbances Rejection Control Technique.
The content of the invention
For above-mentioned shortcoming existing in the prior art, the technical problem to be solved in the present invention is to provide it is a kind of nobody
Helicopter active disturbance rejection flight position control method.
The used to achieve the above object technical solution of the present invention is：A kind of unmanned helicopter active disturbance rejection flight position control
Method processed, including interconnection control, vertical passage control, altitude channel control, each passage control process include following
Step：
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 vertical passage control comprises the following steps：
The position x in x-axis direction under computer body coordinate systemb：
xb=xe cosψ+ye sinψ
Wherein, xeAnd yePosition respectively in X-axis Y direction of the unmanned helicopter under earth axes, ψ are yaw
Angle；
Observation state amount is z1=z1+h(z2-c1e+u)；
Expansion state amount is z2=z2+h(-d1fe)；
Wherein, h cycles in order to control, e=z1-xb, fe=fal (e, 0.5, h), fal () are fal functions, and u is vertical passage
Automatic disturbance rejection controller output, z1And z2Initial value be 0；
The output of the automatic disturbance rejection controller of vertical passage is：U=β1fal(e1,α1,δ1)-z2；
Wherein, e1=x 'b-z1, x 'bFor the input of the automatic disturbance rejection controller of vertical passage, the target range flown before expression,
α1, β1, δ1For with the relevant controller parameter of unmanned helicopter model.
The interconnection control comprises the following steps：
Calculate position x of the unmanned helicopter in y-axis directionb：
yb=xe sinψ+ye cosψ
Wherein, xeAnd yePosition respectively in X-axis Y direction of the unmanned helicopter under earth axes, ψ is yaw angle；
Observation state amount is z1=z1+h(z2-c1e+u)；
Expansion state amount is z2=z2+h(-d1fe)；
Wherein, h cycles in order to control, e=z1-yb, fe=fal (e, 0.5, h), fal () are fal functions, and u is interconnection
Automatic disturbance rejection controller output, z1And z2Initial value be 0；
The output of the automatic disturbance rejection controller of interconnection is：U=β1fal(e1,α1,δ1)-z2；
Wherein, e1=y 'b-z1, y 'bFor the input of the automatic disturbance rejection controller of interconnection, the target range that side flies is represented,
α1, β1, δ1For with the relevant controller parameter of unmanned helicopter model.
The altitude channel control comprises the following steps：
Observation state amount is z1=z1+h(z2-c1e+u)；
Expansion state amount is z2=z2+h(-d1fe)；
Wherein, h cycles in order to control, e=z1-ze, fe=fal (e, 0.5, h), fal () are fal functions, and u is vertical passage
Automatic disturbance rejection controller output, zeFor unmanned helicopter in the Z-direction under earth axes position, z1And z2It is initial
It is worth for 0；
The output of the automatic disturbance rejection controller of vertical passage is：U=β1fal(e1,α1,δ1)-z2；
Wherein, e1=z 'b-z1, z 'bFor the input of the automatic disturbance rejection controller of altitude channel, winged target range of hanging down is represented,
α1, β1, δ1For with the relevant controller parameter of unmanned helicopter model.
The coupling of each interchannel of present system can be considered as disturbing, and automatic disturbance rejection controller can be observed by expansion state
The disturbance estimation of device and disturbance compensation, by its coupling counters.The invention is a kind of Non-Model Controller, and controlled device is not required in it
Accurate model, but rely on error to control.
Brief description of the drawings
Fig. 1 is the structure diagram of the present invention；
Fig. 2 is automatic disturbance rejection controller simulation result figure；
Fig. 3 is PID controller simulation result figure；
Fig. 4 is the output figure of automatic disturbance rejection controller；
Fig. 5 is the output figure of PID controller.
Embodiment
The present invention is described in further detail with reference to the accompanying drawings and embodiments.
Position control system synthetic user gives destination target, plans suitable course line, is converted into suitable speed
Instruction, is assigned to each passage.Since the destination that user is given all is the coordinate information under earth axes under normal conditions,
Therefore position control system should cook up rational flying method.
Positioner under body coordinate system：The feedback information of positioner is different from speed and attitude controller,
Its feedback is not the feedback under body coordinate system, but earth axes rotate through the coordinate system after yaw angle, the coordinate
The XOY plane of system still with ground level, so just can guarantee that flying distance with respect to ground is stable.Can be easily by original
Come east northeast way point information be converted to before fly several meters, adjustment course as instruction issuing to speed control system.
As shown in Figure 1, positioner there are three passages, be corresponding with three passages of speed control respectively, i.e., longitudinal,
Laterally and highly.The algorithm of vertical passage is as follows
xb=xe cosψ+ye sinψ
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 'bDevice input in order to control is that u is output.
The algorithm of interconnection is as follows
yb=xe sinψ+ye cosψ
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 'bDevice inputs in order to control, and u is output.
The algorithm of 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 'bDevice inputs in order to control, and u is output.
In above-mentioned formula, α1, β1, δ1Device parameter in order to control, α1, β1, δ1For with the relevant controller of unmanned helicopter model
Parameter, using in an emulation embodiment of inventive algorithm, α1、β1、δ11,0.5,0.001 is taken as respectively.
In order to the advantage of clearer embodiment automatic disturbance rejection controller, contrasted using simplest Second Order Integral model
The control effect of automatic disturbance rejection controller and PID controller, as shown in Figure 2-5.
Claims (4)
1. a kind of unmanned helicopter active disturbance rejection flight position control method, it is characterised in that logical including interconnection control, longitudinal direction
Road control, altitude channel control, each passage control process comprise 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.
2. a kind of unmanned helicopter active disturbance rejection flight position control method according to claim 1, it is characterised in that described
Vertical passage control comprises the following steps：
The position x in x-axis direction under computer body coordinate systemb：
xb=xe cosψ+ye sinψ
Wherein, xeAnd yePosition respectively in X-axis Y direction of the unmanned helicopter under earth axes, ψ is yaw angle；
Observation state amount is z1=z1+h(z2-c1e+u)；
Expansion state amount is z2=z2+h(-d1fe)；
Wherein, h cycles in order to control, e=z1-xb, fe=fal (e, 0.5, h), fal () are fal functions, and u is oneself of vertical passage
The output of disturbance rejection control device, z1And z2Initial value be 0；
The output of the automatic disturbance rejection controller of vertical passage is：U=β1fal(e1,α1,δ1)-z2；
Wherein, e1=xb′-z1, xb' for vertical passage automatic disturbance rejection controller input, before expression fly target range, α1, β1,
δ1For with the relevant controller parameter of unmanned helicopter model.
3. a kind of unmanned helicopter active disturbance rejection flight position control method according to claim 1, it is characterised in that described
Interconnection control comprises the following steps：
Calculate position x of the unmanned helicopter in y-axis directionb：
yb=xe sinψ+ye cosψ
Wherein, xeAnd yePosition respectively in X-axis Y direction of the unmanned helicopter under earth axes, ψ is yaw angle；
Observation state amount is z1=z1+h(z2-c1e+u)；
Expansion state amount is z2=z2+h(-d1fe)；
Wherein, h cycles in order to control, e=z1-yb, fe=fal (e, 0.5, h), fal () are fal functions, and u is oneself of interconnection
The output of disturbance rejection control device, z1And z2Initial value be 0；
The output of the automatic disturbance rejection controller of interconnection is：U=β1fal(e1,α1,δ1)-z2；
Wherein, e1=yb′-z1, yb' for interconnection automatic disturbance rejection controller input, represent the target range that flies of side, α1, β1,
δ1For with the relevant controller parameter of unmanned helicopter model.
4. a kind of unmanned helicopter active disturbance rejection flight position control method according to claim 1, it is characterised in that described
Altitude channel control comprises the following steps：
Observation state amount is z1=z1+h(z2-c1e+u)；
Expansion state amount is z2=z2+h(-d1fe)；
Wherein, h cycles in order to control, e=z1-ze, fe=fal (e, 0.5, h), fal () are fal functions, and u is oneself of vertical passage
The output of disturbance rejection control device, zeFor unmanned helicopter in the Z-direction under earth axes position, z1And z2Initial value be
0；
The output of the automatic disturbance rejection controller of vertical passage is：U=β1fal(e1,α1,δ1)-z2；
Wherein, e1=zb′-z1, zb' for altitude channel automatic disturbance rejection controller input, represent winged target range of hanging down, α1, β1,
δ1For with the relevant controller parameter of unmanned helicopter model.
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| CN109709810A (en) * | 2019-01-22 | 2019-05-03 | 天津大学 | All directionally movable robot track following model-free Auto-disturbance-rejection Control |
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