CN108181915A - A kind of flight attitude regulation and control method of quadrotor unmanned plane - Google Patents
A kind of flight attitude regulation and control method of quadrotor unmanned plane Download PDFInfo
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- CN108181915A CN108181915A CN201711375226.XA CN201711375226A CN108181915A CN 108181915 A CN108181915 A CN 108181915A CN 201711375226 A CN201711375226 A CN 201711375226A CN 108181915 A CN108181915 A CN 108181915A
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- unmanned plane
- flight attitude
- control method
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
A kind of flight attitude regulation and control method of quadrotor unmanned plane, is related to unmanned air vehicle technique field, includes the following steps：Step 1：The direction vector of the gravity of unmanned plane is obtained using acceleration transducer, obtains 3-axis acceleration；Step 2：Three current axis angular rates of unmanned plane are obtained using gyroscope；Step 3：The direction in magnetic field is obtained using magnetic field sensor, obtains three-axle magnetic field angle；Step 4：The atmospheric gas pressure value in field where obtaining unmanned plane using atmosphere pressure sensor；Step 5：The complementary relationship between acceleration transducer and gyroscope is established by filtering and balancing；Step 6：Using 3-axis acceleration, three axis angular rates, three-axle magnetic field angle and atmospheric gas pressure value as input parameter, the regulation and control of flight attitude are carried out to unmanned plane using cascade PID；Step 7：The various parameters of cascade PID are adjusted before taking a flight test, the ability of the secondary interference of control of the flight attitude regulation and control method of the quadrotor unmanned plane is strong.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, more particularly to a kind of flight attitude regulation and control side of quadrotor unmanned plane
Method.
Background technology
Unmanned plane refers to the not manned vehicle controlled using wireless remote control device and the control device of itself, such as
Unmanned helicopter, unmanned fixed-wing aircraft, unmanned parasol etc..In recent ten years, unmanned plane has been widely used in taking photo by plane and take the photograph
The fields such as shadow, electric inspection process, environmental monitoring, forest fire protection, disaster inspection, anti-terrorism lifesaving, military surveillance, battle assessment, can
Effectively overcome the shortcomings of that manned unmanned plane carries out aerial work, reduce purchase and maintenance cost, improve the peace of delivery vehicle
Quan Xing.Unmanned aerial vehicle (UAV) control technical research is one of hot spot that research institution pays close attention to both at home and abroad at present.
The problem is that fed back without specific attitude of flight vehicle, attitude of flight vehicle feedback can only be with for current unmanned plane
Naked eyes judgement, can not accurate judgement flight attitude.Attitude of flight vehicle is already limited, and can not simulate all directions angle after taking off
Posture.
Invention content
A kind of flight of quadrotor unmanned plane is provided it is an object of the invention to avoid shortcoming of the prior art
Posture regulates and controls method, and the ability of the secondary interference of control of the flight attitude regulation and control method of the quadrotor unmanned plane is strong.
The purpose of the present invention is achieved through the following technical solutions：
A kind of flight attitude regulation and control method of quadrotor unmanned plane is provided, is included the following steps：
Step 1：The direction vector of the gravity of unmanned plane is obtained using acceleration transducer, obtains 3-axis acceleration；
Step 2：Three current axis angular rates of unmanned plane are obtained using gyroscope；
Step 3：The direction in magnetic field is obtained using magnetic field sensor, obtains three-axle magnetic field angle；
Step 4：The atmospheric gas pressure value in field where obtaining unmanned plane using atmosphere pressure sensor；
Step 5：The complementary relationship between acceleration transducer and gyroscope is established by filtering and balancing；
Step 6：Using 3-axis acceleration, three axis angular rates, three-axle magnetic field angle and atmospheric gas pressure value as input parameter, profit
The regulation and control of flight attitude are carried out to unmanned plane with cascade PID；
Step 7：The various parameters of cascade PID are adjusted before taking a flight test.
Wherein, in the step 7, cascade PID includes following sub-step to the regulation and control of flight attitude：
Sub-step one：Amplitude limit is as the desired value of angular rate control unit after the differential seat angle of axis posture is multiplied by coefficient of angularity p；
Sub-step two：It is poor that the desired value of angular rate control unit is made with the current angular velocity that gyroscope obtains, and obtains angular speed
Error is multiplied by kp and obtains P；
Sub-step three：Angular speed error is added to I when I values are less than amplitude limit value or angular speed error with I value contrary signs
In；
Sub-step four：The difference of the front and rear error of angular speed twice is as D；
Sub-step five：P, I and D three's phase adduction amplitude limit are obtained into final PID outputs.
Wherein, in the step 7, the various parameters of cascade PID is adjusted and are included the following steps：
Step A：The value of angle outer shroud is set as 0；
Step B：It is preceded by P；
Step C：Then D is added；
Step D：Then I is added；
Step E：Then outer shroud is added；
Step F：It takes a flight test after finally adding the corrected parameter of yaw.
Wherein, above step performs successively.
Wherein, suitable frequency is added in before step 5 to be filtered.
Wherein, differential seat angle=desired value-real-time attitude value of the axis posture.
Wherein, it is controlled when the flight attitude of unmanned plane is roll with outer shroud, the value of the X-axis of gyroscope is as the defeated of inner ring
Enter.
Wherein, it is controlled when the flight attitude of unmanned plane is pitching with outer shroud, the value of the Y-axis of gyroscope is as the defeated of inner ring
Enter.
Wherein, the flight attitude of unmanned plane, which is, is by the desired value of angular rate control unit and angular error during yaw and makees
Desired value for angular speed inner ring.
Wherein, it is controlled when the flight attitude of unmanned plane is course with outer shroud, the value of the Z axis of gyroscope is as the defeated of inner ring
Enter.
Wherein, it is angular speed that the inner ring control of UAV Attitude, which is input, is exported as PWM increments.
Beneficial effects of the present invention：A kind of flight attitude regulation and control method of quadrotor unmanned plane of the present invention, passes through acquisition
This ten data of 3-axis acceleration, three axis angular rates, three-axle magnetic field angle and atmospheric gas pressure value utilize tandem as input parameter
PID carries out unmanned plane the regulation and control of flight attitude, the various parameters of cascade PID is adjusted before taking a flight test, cas PID control
The ability of secondary interference is strong.
Description of the drawings
Fig. 1 is a kind of flow chart of the flight attitude regulation and control method of quadrotor unmanned plane of the present invention.
Specific embodiment
The invention will be further described with the following Examples.
A kind of flight attitude regulation and control method of quadrotor unmanned plane of the present embodiment, with reference to figure 1, includes the following steps：
Step 1：The direction vector of the gravity of unmanned plane is obtained using acceleration transducer, obtains 3-axis acceleration；
Step 2：Three current axis angular rates of unmanned plane are obtained using gyroscope；
Step 3：The direction in magnetic field is obtained using magnetic field sensor, obtains three-axle magnetic field angle；
Step 4：The atmospheric gas pressure value in field where obtaining unmanned plane using atmosphere pressure sensor；
Step 5：The complementary relationship between acceleration transducer and gyroscope is established by filtering and balancing.Accelerate
The data that the data and gyroscope that degree sensor obtains obtain are filtered respectively by wave filter, and complementation means two filtering
The data that device comes out and be always 1, with ensuring the result is that accurate, but also linear estimation becomes feasible.
The process of balance is：A time constant can be first selected, this time constant determines that gyroscope and acceleration pass
The trust boundaries of sensor.When the signal time period is less than half second, gyroscope is occupied an leading position, and the noise of acceleration transducer can be with
It is ignored；When the signal time period is more than half second, the angular average of acceleration transducer just occupies leading position, there is temperature drift
Gyroscope can be ignored.
Using the constant and then the coefficient a of calculating wave filter, it is added in code.Check angle matched curve, if
Fitting angle always differs so 2 ° with actual angle, just illustrates that the temperature drift of gyroscope is affected, and general just needs are normal the time
Number setting is to 1s hereinafter, to ensure that acceleration transducer can correct the temperature drift value of gyroscope as early as possible.But, time constant is shorter,
Mean that the noise of accelerometer more easily by.
Step 6：Using 3-axis acceleration, three axis angular rates, three-axle magnetic field angle and atmospheric gas pressure value as input parameter, profit
The regulation and control of flight attitude are carried out to unmanned plane with cascade PID；
Step 7：The various parameters of cascade PID are adjusted before taking a flight test.
The flight attitude regulation and control method of a kind of quadrotor unmanned plane of the present embodiment, by obtaining 3-axis acceleration, three axis
This ten data of angular speed, three-axle magnetic field angle and atmospheric gas pressure value fly unmanned plane using cascade PID as input parameter
The regulation and control of row posture are adjusted the various parameters of cascade PID before taking a flight test, and the ability of the secondary interference of cas PID control is strong.
Wherein, in the step 7, cascade PID includes following sub-step to the regulation and control of flight attitude：
Sub-step one：(amplitude limit must have amplitude limit, otherwise acutely make rudder after the differential seat angle of axis posture is multiplied by coefficient of angularity p
Shi Rongyi causes concussion) desired value as angular rate control unit；
Sub-step two：It is poor that the desired value of angular rate control unit is made with the current angular velocity that gyroscope obtains, and obtains angular speed
Error is multiplied by kp and obtains P；
Sub-step three：It is less than amplitude limit value (this value is probably in 5% throttle) or angular speed error and I value contrary signs in I values
When angular speed error is added in I；
Sub-step four：The difference of the front and rear error of angular speed twice is as D；
Sub-step five：It adds in suitable frequency to be filtered, to avoid concussion.Can selecting frequency be filtered for 20hz.
Sub-step six：P, I and D three's phase adduction amplitude limit (50% throttle) are obtained into final PID outputs.
Wherein, in the step 7, the various parameters of cascade PID is adjusted and are included the following steps：
Step A：The value of angle outer shroud is set as 0；
Step B：It is preceded by P；
Step C：Then D is added；
Step D：Then I is added；
Step E：Then outer shroud is added；
Step F：It takes a flight test after finally adding the corrected parameter of yaw.
Wherein, the step A to F more than is performed successively.
Concrete operations are as follows：
1st, the adjustment of pid parameter is carried out on the basis of the throttle that takes off of unmanned plane, otherwise debugging stabilizes, and flies up and comes very
It can may rock again.
2nd, the parameter of inner ring is the most key, and ideal inner ring parameter can follow well beats rudder (angular speed control model
Under make rudder) controlled quentity controlled variable.
Near equilbrium position (positive and negative 30 degree or so), rudder amount impact, unmanned plane quick response；During rudder amount is returned, unmanned plane
Stop motion at once (almost without springing back and shaking).
2.1st, reprogramming first, angle outer shroud is removed, will beat desired value of the rudder amount as inner ring.
2.2nd, plus P, if P is too small, it is impossible to which the performance of correction angle velocity error is difficult to correct after tilting for unmanned plane, makes rudder
Response is also poor.If P is too big, easily shake in equilbrium position, can be shaken when beating during rudder returns or to interference (being interfered with hand impact).
The suitable P rudders that can preferably fight each other are responded, and be not likely to shake, but rudder amount return in after can spring back several lower could stop
(there is no D).
2.3rd, plus D, the effect of D is fairly obvious, and rudder response is played in quickening, and maximum effect is that rudder amount can be inhibited to return well
In after concussion, be to get instant result.
Too big D can be showed in roll pitching mixing, and specific manifestation is that four axis grip in hand and push away throttle and can shake.
If so, D can only be reduced, while P also can only be reduced and then.D can increase P values again after having adjusted, and be beaten with that can follow
Rudder is criterion.
2.4th, plus I, it is found that feel has become softer.The effect of I can be so that (30 in the range of certain angle
Degree left and right) influence that gravity belt is come can be corrected.
Making rudder causes unmanned plane to deviate equilbrium position, and rear unmanned plane stops operating at once in rudder amount time, if without I or too
Small, unmanned plane can be rotated further due to gravity.
3rd, only there are one parameter P for angle outer shroud.Outer shroud can be corresponded into desired angle plus making rudder.The parameter of P compares
Simply.Too small, it is insensitive to make rudder, too greatly, beats during rudder returns and easily shakes.It is subject to and suitably beats rudder reaction speed.
4th, the effect of two axis mixings it is possible that can shake (controlled quentity controlled variable of two axis stacks up, particularly larger D,
Shake can be caused, if shake, reduce the value of PD, I does not have to become substantially.
5th, plus after the corrected parameter of yaw, (directly to bicyclic parameter, angle outer shroud P and roll are similar, and inner ring P is than horizontal
Rolling is big, and I and roll are similar, and D can be first not added with) take tried to correct and beat rudder it is in the right direction after can then take a flight test.
Wherein, differential seat angle=desired value-real-time attitude value of the axis posture.
Wherein, (input is angle, is exported as angular speed), gyro are controlled with outer shroud when the flight attitude of unmanned plane is roll
Input of the value of the X-axis of instrument as inner ring.
Wherein, (input is angle, is exported as angular speed), gyro are controlled with outer shroud when the flight attitude of unmanned plane is pitching
Input of the value of the Y-axis of instrument as inner ring.
Wherein, it is by the desired value (beating rudder amount) and angle of angular rate control unit when the flight attitude of unmanned plane is yaw
Error and as angular speed inner ring desired value.Better dynamic response can be obtained in this way.
Wherein, it is controlled when the flight attitude of unmanned plane is course with outer shroud, the value of the Z axis of gyroscope is as the defeated of inner ring
Enter.
Wherein, it is angular speed that the inner ring control of UAV Attitude, which is input, is exported as PWM increments.The effect of inner ring is exactly：
Reduce the concussion that the control of P ratios is brought.
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention rather than the present invention is protected
The limitation of range is protected, although being explained in detail with reference to preferred embodiment to the present invention, those of ordinary skill in the art should
Work as understanding, technical scheme of the present invention can be modified or replaced equivalently, without departing from the reality of technical solution of the present invention
Matter and range.
Claims (10)
1. a kind of flight attitude regulation and control method of quadrotor unmanned plane, it is characterised in that：Include the following steps：
Step 1：The direction vector of the gravity of unmanned plane is obtained using acceleration transducer, obtains 3-axis acceleration；
Step 2：Three current axis angular rates of unmanned plane are obtained using gyroscope；
Step 3：The direction in magnetic field is obtained using magnetic field sensor, obtains three-axle magnetic field angle；
Step 4：The atmospheric gas pressure value in field where obtaining unmanned plane using atmosphere pressure sensor；
Step 5：The complementary relationship between acceleration transducer and gyroscope is established by filtering and balancing；
Step 6：Using 3-axis acceleration, three axis angular rates, three-axle magnetic field angle and atmospheric gas pressure value as input parameter, string is utilized
Grade PID carries out unmanned plane the regulation and control of flight attitude；
Step 7：The various parameters of cascade PID are adjusted before taking a flight test.
2. a kind of flight attitude regulation and control method of quadrotor unmanned plane as described in claim 1, it is characterised in that：The step
In seven, cascade PID includes following sub-step to the regulation and control of flight attitude：
Sub-step one：Amplitude limit is as the desired value of angular rate control unit after the differential seat angle of axis posture is multiplied by coefficient of angularity p；
Sub-step two：It is poor that the desired value of angular rate control unit is made with the current angular velocity that gyroscope obtains, and obtains angular speed error
It is multiplied by kp and obtains P；
Sub-step three：Angular speed error is added in I when I values are less than amplitude limit value or angular speed error with I value contrary signs；
Sub-step four：The difference of the front and rear error of angular speed twice is as D；
Sub-step five：P, I and D three's phase adduction amplitude limit are obtained into final PID outputs.
3. a kind of flight attitude regulation and control method of quadrotor unmanned plane as claimed in claim 2, it is characterised in that：The step
In seven, the various parameters of cascade PID are adjusted and are included the following steps：
Step A：The value of angle outer shroud is set as 0；
Step B：It is preceded by P；
Step C：Then D is added；
Step D：Then I is added；
Step E：Then outer shroud is added；
Step F：It takes a flight test after finally adding the corrected parameter of yaw,
Wherein, above step performs successively.
4. a kind of flight attitude regulation and control method of quadrotor unmanned plane as claimed in claim 2, it is characterised in that：In step 5
Suitable frequency is added in before to be filtered.
5. a kind of flight attitude regulation and control method of quadrotor unmanned plane as claimed in claim 2, it is characterised in that：The axis appearance
Differential seat angle=desired value-real-time attitude value of state.
6. a kind of flight attitude regulation and control method of quadrotor unmanned plane as described in claim 1, it is characterised in that：Unmanned plane
Flight attitude is controlled when being roll with outer shroud, the input of the value of the X-axis of gyroscope as inner ring.
7. a kind of flight attitude regulation and control method of quadrotor unmanned plane as described in claim 1, it is characterised in that：Unmanned plane
Flight attitude is controlled when being pitching with outer shroud, the input of the value of the Y-axis of gyroscope as inner ring.
8. a kind of flight attitude regulation and control method of quadrotor unmanned plane as described in claim 1, it is characterised in that：Unmanned plane
Flight attitude is to be during yaw using the desired value of angular rate control unit and angular error and as angular speed inner ring desired value.
9. a kind of flight attitude regulation and control method of quadrotor unmanned plane as described in claim 1, it is characterised in that：Unmanned plane
Flight attitude is controlled when being course with outer shroud, the input of the value of the Z axis of gyroscope as inner ring.
10. a kind of flight attitude regulation and control method of quadrotor unmanned plane as described in claim 1, it is characterised in that：Unmanned plane
It is angular speed that the inner ring control of posture, which is input, is exported as PWM increments.
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| CN112965511A (en) * | 2021-02-08 | 2021-06-15 | 电子科技大学 | Simplified attitude control method suitable for flight control of quad-rotor unmanned aerial vehicle |
| CN113721643A (en) * | 2021-07-20 | 2021-11-30 | 中国计量大学 | Attitude control method for transverse double-rotor unmanned aerial vehicle |
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Application publication date: 20180619 |