CN108563126A - Self-adaptive control method of four-rotor aircraft based on hyperbolic sine enhanced power approximation law and fast terminal sliding mode surface - Google Patents
Self-adaptive control method of four-rotor aircraft based on hyperbolic sine enhanced power approximation law and fast terminal sliding mode surface Download PDFInfo
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Abstract
A self-adaptive control method of a four-rotor aircraft based on hyperbolic sine enhanced power approximation law and a fast terminal sliding mode surface comprises the following steps: step 1, determining a transfer matrix from a body coordinate system based on a four-rotor aircraft to an inertial coordinate system based on the earth; step 2, analyzing a four-rotor aircraft dynamic model according to a Newton Euler formula; and 3, calculating a tracking error, and designing a controller according to the fast terminal sliding mode surface and the first derivative thereof. The hyperbolic sine enhanced power approximation law sliding mode control and the rapid terminal sliding mode control are combined, the approximation speed can be increased when the sliding mode is far away from the sliding mode, buffeting is reduced, the rapidity and the robustness of a system are improved, rapid and stable control is achieved, meanwhile, the limited time control of the tracking error is achieved, and the problem that the tracking error tends to 0 only when the time tends to be infinite in the traditional sliding mode is solved. Meanwhile, the interference boundary is estimated through self-adaptation, and the stability of the system is improved.
Description
Technical field
The present invention relates to a kind of quadrotors based on the enhanced power Reaching Law of hyperbolic sine and fast terminal sliding-mode surface to fly
Row device self-adaptation control method.
Background technology
Quadrotor causes domestic and foreign scholars due to the feature of simple in structure, mobility strong, flying method uniqueness
And the extensive concern of scientific research institution, and rapidly become one of the hot spot studied in the world at present.Compared to Fixed Wing AirVehicle, rotation
Rotor aircraft can be vertically moved up or down, low to environmental requirement, not need runway, reduce cost, there is huge commercial value.Row
The development of device makes the working at height of many danger become light safety, causes to deter to other countries in military aspect, civilian
Aspect makes working efficiency greatly increase.Quadrotor has stronger flexibility, can realize the fast of movement and hovering at any time
Fast transition, and can be with the aerial mission of the competent more challenge of smaller damage risk.In field of scientific study, due to four rotations
Dynamic characteristic of the rotor aircraft with non-linear, drive lacking, close coupling, researcher often test as theoretical research, method
The experimental vehicle of card.Small-sized quadrotor is relied on, vehicle flight control system is built, carries out aircraft high-performance movement
Control research, is the hot research field of current academia.
The characteristics of Reaching Law sliding formwork control, can be achieved on discontinuous control, and sliding mode is programmable, and be
System parameter and disturbance are not associated with.Reaching Law sliding formwork can not only rationally design the speed for reaching sliding-mode surface, reduce the approach stage
Time, improve the robustness of system, and can effectively weaken the buffeting problem in sliding formwork control.Currently, in quadrotor control
It is fewer using Reaching Law sliding formwork control in field processed.Enhanced Reaching Law is further speeded up on the basis of traditional Reaching Law
System reaches the velocity of approach of sliding-mode surface simultaneously so that buffeting smaller.Since quadrotor can awing encounter outside
Environmental disturbances improve the stability of system by the way that adaptively the boundary of interference is interfered and compensated.
Invention content
In order to overcome traditional sliding-mode surface to cannot achieve finite-time control and further speed up the velocity of approach of Reaching Law
The problem of with buffeting is reduced, present invention employs fast terminal sliding formwork control and based on the enhanced power approach of hyperbolic sine
Rule, singularity problem is avoided by the thought of switching control, is accelerated the velocity of approach that system reaches sliding-mode surface, is reduced and tremble
It shakes, realizes finite-time control.Simultaneously by the way that adaptively the boundary of interference is interfered and compensated, the stabilization of system is improved
Property.
In order to solve the above-mentioned technical problem the technical solution proposed is as follows：
A kind of quadrotor based on the enhanced power Reaching Law of hyperbolic sine and fast terminal sliding-mode surface is adaptive
Control method includes the following steps：
Step 1, it determines from the body coordinate system based on quadrotor to the transfer of the inertial coodinate system based on the earth
Matrix；
Wherein ψ, θ, φ are yaw angle, pitch angle, the roll angle of aircraft respectively, indicate aircraft around inertial coordinate successively
It is the angle of each axis rotation, TψIndicate the transfer matrix of ψ, TθIndicate the transfer matrix of θ, TφIndicate the transfer matrix of φ；
Step 2, quadrotor kinetic model is analyzed according to newton Euler's formula, process is as follows：
2.1, have during translation：
Wherein x, y, z indicates that position of the quadrotor under inertial coodinate system, m indicate that the quality of aircraft, g indicate respectively
Acceleration of gravity, mg indicate gravity suffered by quadrotor, the resultant force U that four rotors generater；
2.2, have in rotation process：
Wherein τx、τy、τzRespectively represent each axis moment components on body coordinate system, Ixx、Iyy、IzzRespectively represent body seat
Each axis rotary inertia component fastened is marked, × indicate multiplication cross, wp、wq、wrRespectively represent each axis attitude angle speed on body coordinate system
Component is spent,Respectively represent each axis posture component of angular acceleration on body coordinate system；
In view of aircraft is under low-speed operations or floating state, it is believed that
Then rotation process Chinese style (3) is expressed as formula (4)
2.3, simultaneous formula (1), (2), (4), shown in the kinetic model such as formula (5) for obtaining aircraft
Wherein Ux、Uy、UzThe input quantity of respectively three positioners；
According to formula (5), decoupling computation is carried out to position and attitude relationship, it is as a result as follows：
Wherein φdFor the expected signal value of φ, θdFor the expected signal value of θ, ψdFor the expected signal value of ψ, arcsin letters
Number is arcsin function, and arctan functions are arctan functions；
Formula (5) can also be write as matrix form, as follows：
Wherein X1=[x, y, z, φ, θ, ψ]T, B
(X)=diag (1,1,1, b1,b2,b3), U=[Ux,Uy,Uz,τx,τy,τz]T,
Step 3, tracking error is calculated, controller is designed according to fast terminal sliding-mode surface and its first derivative, process is such as
Under：
3.1, define tracking error and its first differential and second-order differential：
E=X1-Xd (8)
Wherein, Xd=[xd,yd,zd,φd,θd,ψd]T, xd,yd,zd,φd,θd,ψdRespectively x, y, z, φ, θ, ψ's leads
Desired signal,I=1,2,3,4,5,6, Di, c0i, c1i, c2i, ei,Respectively corresponding i-th
A element；
3.2, design fast terminal sliding-mode surface：
Wherein, sigα(x)=| x |αSign (x), α1＞ α2＞ 1, λ1＞ 0, λ2＞ 0；
Derivation is carried out to formula (11), is obtained：
It enablesFormula (12) is reduced to formula (13)
But due to existing in α (e)Negative power time item, when α (e)=0 and β (e) ≠ 0 can lead to singularity problem；
Consider the method for switching control：
Wherein qi(e),αi(e),βi(e) it is respectively q (e), the corresponding element of α (e), β (e),
Simultaneous formula (13) and formula (14), obtain：
Simultaneous formula (7), formula (10) and formula (15), obtain：
3.3, design enhanced Reaching Law
WhereinN-1(X) the inverse square for being N (X)
Battle array, k10,0 ＜ β of ＞11,0 ＜ δ ＜ 1 of ＜, γ ＞ 0, μ ＞ 1, p are positive integer；
3.4, simultaneous formula (16) and formula (17) obtain controller
Wherein B-1(X) inverse matrix for being B (X), Respectively corresponding i-th of element；
Adaptive law design is as follows：
Step 4, property illustrates, process is as follows：
When system is far from sliding-mode surface | s | very big, N (s) approaches δ,System
Velocity of approach accelerate；When system is close to sliding-mode surface | s | 0, N of approach (s) approaches μ,The buffeting of system reduces.
The present invention technical concept be：For quadrotor system, in conjunction with power Reaching Law sliding formwork control and soon
Fast TSM control devises a kind of quadrotor based on hyperbolic sine enhanced power Reaching Law and fast terminal sliding-mode surface
Aircraft self-adaptation control method.Fast terminal sliding-mode surface can realize the finite-time control of tracking error, solve traditional cunning
The problem of time tends to be infinite in die face, and error just tends to 0.It not only can be far from sliding formwork based on the enhanced Reaching Law of hyperbolic sine
Velocity of approach can be increased when face, and buffeting can be reduced, improve the rapidity and robustness of system, realize fast and stable control.
Simultaneously by the way that adaptively the boundary of interference is interfered and compensated, the stability of system is improved.
Beneficial effects of the present invention are：The robustness for enhancing system, compared with traditional power Reaching Law sliding formwork control,
It not only can increase velocity of approach when far from sliding-mode surface, and buffeting can be reduced, shorten the arrival time of sliding mode, from
And system is made quickly to realize stable convergence.In addition to this, the present invention utilizes fast terminal sliding formwork, solves in traditional sliding-mode surface
The problem of time tends to be infinite, and error just tends to 0, realizes finite-time control.Simultaneously by adaptively to the boundary of interference into
Row interference and compensation, improve the stability of system.
Description of the drawings
Fig. 1 is the position tracking effect diagram of quadrotor, and dotted line represents " 1 " type under linear sliding mode face
Enhanced power Reaching Law self adaptive control, dotted line, which represents, is based on the enhanced power of hyperbolic sine " μ " type under fast terminal sliding-mode surface
Secondary Reaching Law self adaptive control.
Fig. 2 is the Attitude Tracking effect diagram of quadrotor, and " 1 " type that dotted line represents linear sliding mode face increases
Strong type power Reaching Law self adaptive control, dotted line are represented fast terminal sliding-mode surface and are become based on the enhanced power of hyperbolic sine " μ " type
Nearly rule self adaptive control.
Fig. 3 is the position of the enhanced power Reaching Law self adaptive control of " 1 " type under quadrotor linear sliding mode face
Controller inputs schematic diagram.
Fig. 4 is that quadrotor fast terminal sliding-mode surface is adaptive based on the enhanced power Reaching Law of hyperbolic sine " μ " type
The positioner input schematic diagram that should be controlled.
Fig. 5 is the posture of the enhanced power Reaching Law self adaptive control of " 1 " type under quadrotor linear sliding mode face
Controller inputs schematic diagram.
Fig. 6 is that quadrotor fast terminal sliding-mode surface is adaptive based on the enhanced power Reaching Law of hyperbolic sine " μ " type
The attitude controller input schematic diagram that should be controlled.
Fig. 7 is the posture of the enhanced power Reaching Law self adaptive control of " 1 " type under quadrotor linear sliding mode face
Controller inputs close-up schematic view.
Fig. 8 is that quadrotor fast terminal sliding-mode surface is adaptive based on the enhanced power Reaching Law of hyperbolic sine " μ " type
The attitude controller input close-up schematic view that should be controlled.
Fig. 9 is that quadrotor fast terminal sliding-mode surface is adaptive based on the enhanced power Reaching Law of hyperbolic sine " μ " type
The estimation on the boundary for the Position disturbance that should be controlled.
Figure 10 is that quadrotor fast terminal sliding-mode surface is adaptive based on the enhanced power Reaching Law of hyperbolic sine " μ " type
The estimation on the boundary for the attitude disturbance that should be controlled.
Figure 11 is the control flow schematic diagram of the present invention.
Specific implementation mode
The present invention will be further described below in conjunction with the accompanying drawings.
- Figure 11 referring to Fig.1, a kind of quadrotor based on hyperbolic sine enhanced power Reaching Law and fast terminal sliding-mode surface
Aircraft self-adaptation control method, includes the following steps：
Step 1, it determines from the body coordinate system based on quadrotor to the transfer of the inertial coodinate system based on the earth
Matrix；
Wherein ψ, θ, φ are yaw angle, pitch angle, the roll angle of aircraft respectively, indicate aircraft around inertial coordinate successively
It is the angle of each axis rotation, TψIndicate the transfer matrix of ψ, TθIndicate the transfer matrix of θ, TφIndicate the transfer matrix of φ；
Step 2, quadrotor kinetic model is analyzed according to newton Euler's formula, process is as follows：
2.1, have during translation：
Wherein x, y, z indicates that position of the quadrotor under inertial coodinate system, m indicate that the quality of aircraft, g indicate respectively
Acceleration of gravity, mg indicate gravity suffered by quadrotor, the resultant force U that four rotors generater；
2.2, have in rotation process：
Wherein τx、τy、τzRespectively represent each axis moment components on body coordinate system, Ixx、Iyy、IzzRespectively represent body seat
Each axis rotary inertia component fastened is marked, × indicate multiplication cross, wp、wq、wrRespectively represent each axis attitude angle speed on body coordinate system
Component is spent,Respectively represent each axis posture component of angular acceleration on body coordinate system；
In view of aircraft is under low-speed operations or floating state, it is believed that
Then rotation process Chinese style (3) is expressed as formula (4)
2.3, simultaneous formula (1), (2), (4), shown in the kinetic model such as formula (5) for obtaining aircraft
Wherein Ux、Uy、UzThe input quantity of respectively three positioners；
According to formula (5), decoupling computation is carried out to position and attitude relationship, it is as a result as follows：
Wherein φdFor the expected signal value of φ, θdFor the expected signal value of θ, ψdFor the expected signal value of ψ, arcsin letters
Number is arcsin function, and arctan functions are arctan functions；
Formula (5) can also be write as matrix form, as follows：
Wherein X1=[x, y, z, φ, θ, ψ]T,
B (X)=diag (1,1,1, b1,b2,b3), U=[Ux,Uy,Uz,τx,τy,τz]T,
Step 3, tracking error is calculated, controller is designed according to fast terminal sliding-mode surface and its first derivative, process is such as
Under：
3.1, define tracking error and its first differential and second-order differential：
E=X1-Xd (8)
Wherein, Xd=[xd,yd,zd,φd,θd,ψd]T, xd,yd,zd,φd,θd,ψdRespectively x, y, z, φ, θ, ψ's leads
Desired signal,I=1,2,3,4,5,6, Di, c0i, c1i, c2i, ei,Respectively corresponding i-th
A element；
3.2, design fast terminal sliding-mode surface：
Wherein, sigα(x)=| x |αSign (x), α1＞ α2＞ 1, λ1＞ 0, λ2＞ 0；
Derivation is carried out to formula (11), is obtained：
It enablesFormula (12) is reduced to formula (13)
But due to existing in α (e)Negative power time item, when α (e)=0 and β (e) ≠ 0 can lead to singularity problem；
Consider the method for switching control：
Wherein qi (e), αi(e),βi(e) it is respectively q (e), the corresponding element of α (e), β (e),
Simultaneous formula (13) and formula (14), obtain：
Simultaneous formula (7), formula (10) and formula (15), obtain：
3.3, design enhanced Reaching Law
WhereinN-1(X) the inverse square for being N (X)
Battle array, k10,0 ＜ β of ＞11,0 ＜ δ ＜ 1 of ＜, γ ＞ 0, μ ＞ 1, p are positive integer；
3.4, simultaneous formula (16) and formula (17) obtain controller
Wherein B-1(X) inverse matrix for being B (X), Respectively corresponding i-th of element；
Adaptive law design is as follows：
Step 4, property illustrates, process is as follows：
When system is far from sliding-mode surface | s | very big, N (s) approaches δ,System
Velocity of approach accelerate；When system is close to sliding-mode surface | s | 0, N of approach (s) approaches μ,The buffeting of system reduces.
For the validity of verification institute extracting method, The present invention gives fast terminal sliding-mode surfaces to be increased based on hyperbolic sine " μ " type
Pair of the enhanced power Reaching Law sliding-mode control of " 1 " type of strong type power Reaching Law sliding-mode control and linear sliding mode face
Than：
Wherein, in the enhanced power Reaching Law of " 1 " type
In order to more effectively be compared, all parameters of system are all consistent, i.e. xd=yd=zd=2, ψd=0.5, soon
Fast terminal sliding mode face parameter：λ1=0.5, λ2=2, α1=2, α2=1.1, ε=0.3, linear sliding mode face：λ1=0.5, " μ " type increases
Strong type Reaching Law parameter：k1=10, δ=0.1, p=1, γ=1, μ=10, β1=0.7, the enhanced Reaching Law parameter of " 1 " type：k1
=10, δ=0.1, p=1, γ=1, β1=0.7, adaptive initial value design p0i=p1i=p2i=0.1, ε0i=ε1i=ε2i=0.001, i=1,2,
3,4,5,6, interference parameter： dx=dy=dz=0.2sin (0.2t),Quadrotor
Parameter：M=1.1, Ixx=1.22, Iyy=1.22, Izz=2.2, g=9.81, sampling parameter：ts=0.007, N=5000.
It can be seen that four based on the enhanced power Reaching Law of hyperbolic sine and fast terminal sliding-mode surface from Fig. 1 and Fig. 2
Rotor craft self adaptive control can faster reach desired location；In conjunction with Fig. 3-Fig. 8, based on the enhanced power approach of hyperbolic sine
The quadrotor self adaptive control of rule and fast terminal sliding-mode surface has smaller buffeting.Fig. 9 and Figure 10 can be seen that certainly
Adapt to the validity of the estimation to boundary.
In conclusion the quadrotor based on the enhanced power Reaching Law of hyperbolic sine and fast terminal sliding-mode surface is certainly
Suitable solution can reduce the tracking time reducing the while of buffeting, and improve tracking performance so that system, which quickly enters to stablize, to be received
It holds back.
Described above is the excellent effect of optimization that one embodiment that the present invention provides is shown, it is clear that the present invention is not only
It is limited to above-described embodiment, in the premise without departing from essence spirit of the present invention and without departing from range involved by substantive content of the present invention
Under it can be made it is various deformation be implemented.
Claims (1)
1. a kind of quadrotor based on the enhanced power Reaching Law of hyperbolic sine and fast terminal sliding-mode surface is self-adaptive controlled
Method processed, which is characterized in that the control method includes the following steps：
Step 1, it determines from the body coordinate system based on quadrotor to the transfer matrix of the inertial coodinate system based on the earth；
Wherein ψ, θ, φ are yaw angle, pitch angle, the roll angle of aircraft respectively, indicate that aircraft is each around inertial coodinate system successively
The angle of axis rotation, TψIndicate the transfer matrix of ψ, TθIndicate the transfer matrix of θ, TφIndicate the transfer matrix of φ；
Step 2, quadrotor kinetic model is analyzed according to newton Euler's formula, process is as follows：
2.1, have during translation：
Wherein x, y, z indicates that position of the quadrotor under inertial coodinate system, m indicate that the quality of aircraft, g indicate that gravity adds respectively
Speed, mg indicate gravity suffered by quadrotor, the resultant force U that four rotors generater；
2.2, have in rotation process：
Wherein τx、τy、τzRespectively represent each axis moment components on body coordinate system, Ixx、Iyy、IzzRespectively represent body coordinate system
On each axis rotary inertia component, × indicate multiplication cross, wp、wq、wrRespectively represent each axis attitude angular velocity point on body coordinate system
Amount,Respectively represent each axis posture component of angular acceleration on body coordinate system；
In view of aircraft is under low-speed operations or floating state, it is believed that
Then rotation process Chinese style (3) is expressed as formula (4)
2.3, simultaneous formula (1), (2), (4), shown in the kinetic model such as formula (5) for obtaining aircraft
Wherein Ux、Uy、UzThe input quantity of respectively three positioners；
According to formula (5), decoupling computation is carried out to position and attitude relationship, it is as a result as follows：
Wherein φdFor the expected signal value of φ, θdFor the expected signal value of θ, ψdFor the expected signal value of ψ, arcsin functions are anti-
SIN function, arctan functions are arctan functions；
Formula (5) can also be write as matrix form, as follows：
Wherein X1=[x, y, z, φ, θ, ψ]T,B(X)
=diag (1,1,1, b1,b2,b3), U=[Ux,Uy,Uz,τx,τy,τz]T,
Step 3, tracking error is calculated, controller is designed according to fast terminal sliding-mode surface and its first derivative, process is as follows：
3.1, define tracking error and its first differential and second-order differential：
E=X1-Xd (8)
Wherein, Xd=[xd,yd,zd,φd,θd,ψd]T, xd,yd,zd,φd,θd,ψdRespectively x, y, z, φ, θ, ψ's leads expectation
Signal,I=1,2,3,4,5,6, Di, c0i, c1i, c2i, ei,It is i-th yuan respectively corresponding
Element；
3.2, design fast terminal sliding-mode surface：
Wherein, sigα(x)=| x |αSign (x), α1＞ α2＞ 1, λ1＞ 0, λ2＞ 0；
Derivation is carried out to formula (11), is obtained：
It enablesFormula (12) is reduced to formula (13)
But due to existing in α (e)Negative power time item, when α (e)=0 and β (e) ≠ 0 can lead to singularity problem；
Consider the method for switching control：
Wherein qi(e),αi(e),βi(e) it is respectively q (e), the corresponding element of α (e), β (e), i=x, y, z,θ,ψ；
Simultaneous formula (13) and formula (14), obtain：
Simultaneous formula (7), formula (10) and formula (15), obtain：
3.3, design enhanced Reaching Law
WhereinN-1(X) inverse matrix for being N (X), k1
0,0 ＜ β of ＞11,0 ＜ δ ＜ 1 of ＜, γ ＞ 0, μ ＞ 1, p are positive integer；
3.4, simultaneous formula (16) and formula (17) obtain controller
Wherein B-1(X) inverse matrix for being B (X), Respectively corresponding i-th of element；
Adaptive law design is as follows：
Step 4, enhanced property explanation, process are as follows：
When system is far from sliding-mode surface | s | very big, N (s) approaches δ,System becomes
Nearly speed is accelerated；When system is close to sliding-mode surface | s | 0, N of approach (s) approaches μ,The buffeting of system reduces.
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| CN113697131A (en) * | 2021-08-27 | 2021-11-26 | 哈尔滨工业大学（深圳） | Unwinding-resistant sliding mode attitude tracking control method and system for rigid spacecraft |
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