CN108646772A - The attitude control method of the dynamic quadrotor drone of oil - Google Patents

The attitude control method of the dynamic quadrotor drone of oil Download PDF

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Publication number
CN108646772A
CN108646772A CN201810450750.7A CN201810450750A CN108646772A CN 108646772 A CN108646772 A CN 108646772A CN 201810450750 A CN201810450750 A CN 201810450750A CN 108646772 A CN108646772 A CN 108646772A
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vector
attitude
control
height
oil
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CN201810450750.7A
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Inventor
杜永兴
孔震震
秦岭
王可铭
白利
徐惠芳
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Inner Mongolia Yutong Bohui Aerospace Science And Technology Development Co Ltd
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Inner Mongolia Yutong Bohui Aerospace Science And Technology Development Co Ltd
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Priority to CN201810450750.7A priority Critical patent/CN108646772A/en
Publication of CN108646772A publication Critical patent/CN108646772A/en
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
    • 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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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Evolutionary Computation (AREA)
  • Medical Informatics (AREA)
  • Software Systems (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Feedback Control In General (AREA)

Abstract

The invention discloses the attitude control methods of the dynamic quadrotor drone of oil, it includes height controller, horizontal position controller, attitude controller and filter, filter is combined to obtain this fine height vector z, this accurate horizontal vector y, this accurate horizontal vector x with arithmetic mean filtering, height controlled quentity controlled variable U is found out by adaptive Reverse Step Control algorithm1, pitch channel controlled quentity controlled variable U2, roll channel controlled quentity controlled variable U3, jaw channel controlled quentity controlled variable U4.The control algolithm proposed by the present invention for being combined Adaptive Integral Backstepping with mixed filtering algorithm, it is applied to and is moved in quadrotor drone by the larger oil of external environmental interference, steady-state error can be reduced, the flight anti-interference of the dynamic quadrotor drone itself of oil is improved.By being compared experiment with regular integral contragradience algorithm, fully prove that present system convergence is good and stablizes, control effect is ideal, and track following characteristic is stronger, has stronger robustness and anti-gust disturbance.

Description

Attitude control method of oil-driven quad-rotor unmanned aerial vehicle
The technical field is as follows:
the invention relates to an attitude control method of an oil-driven quad-rotor unmanned aerial vehicle, and belongs to the field of automatic control.
Background art:
four rotor unmanned aerial vehicle simple structure, the cost is also lower relatively, convenient maintenance. Compared with other unmanned aerial vehicles, still have the flexible convenient, characteristics such as but the VTOL of control, can hover in the air, no matter in military field or in civilian field, can both obtain very extensive application, compare in electronic four rotor unmanned aerial vehicle, oil moves four rotor unmanned aerial vehicle because of its powerful duration and effectual high load capacity, can be the focus of unmanned aerial vehicle field research from now on.
Oil moves the quadrotor and adopts fuel engine, and the vibrations of fuselage are compared in electronic quadrotor great, and the vibration of organism can produce harmful noise to the attitude data of quadrotor, will influence the stability of unmanned aerial vehicle system.
The existing research is attitude control of electric four rotors, a common electric four-rotor control algorithm combines self-adaptive control and a backstepping method, and is applied to flight control of an aircraft. Consequently, the technique that combines together adaptive control and backstepping method directly is used for the attitude control of four rotor unmanned aerial vehicle are moved to oil, and the vibration that can't overcome the organism produces harmful noise to the attitude data of four rotors, influences the stability of unmanned aerial vehicle system, can not effectual control oil move four rotor unmanned aerial vehicle and stably fly.
The invention content is as follows:
the invention provides an attitude control method of an oil-driven quad-rotor unmanned aerial vehicle, which combines a self-adaptive control and backstepping method, is used for controlling the attitude of the oil-driven quad-rotor unmanned aerial vehicle, can not overcome the problem that the vibration of a machine body generates harmful noise on the attitude data of quad-rotor unmanned aerial vehicles, influences the stability of an unmanned aerial vehicle system and can not effectively control the stable flight of the oil-driven quad-rotor unmanned aerial vehicle.
The purpose of the invention is implemented by the following technical scheme: the attitude control method of the oil-driven quad-rotor unmanned aerial vehicle comprises a height controller, a horizontal position controller, an attitude controller and a filter, wherein the filter is combined with arithmetic average filtering to obtain the current accurate height vector z, the current accurate horizontal vector y and the current accurate horizontal vector x, and the height vector expected value z is respectively used as the height vector expected value zdHorizontal vector expected value ydHorizontal vector expected value xdAfter making differences with the current accurate height vector z, the current accurate horizontal vector y and the current accurate horizontal vector x, the height control quantity U is calculated through a self-adaptive backstepping control algorithm1And a horizontal position control amount uxAnd uyThen u isxAnd uyEntering the attitude controller, from uxAnd uyInverse solution of the calculated pitch attitude angle expected value phidAnd roll attitude angle desired value θdAfter the difference is made between the accurate pitching attitude angle phi and the accurate rolling attitude angle theta, the control quantity U of the pitching channel is obtained through an integral backstepping control algorithm2And roll channel control U3Similarly, the yaw channel control quantity U can be obtained4。
Preferably, the filter is a low-pass filter.
Specifically, the method for obtaining the accurate state vector by combining the low-pass filter and the arithmetic mean filter is as follows:
the low-pass filter is represented by the formula (1),
G(jw)＝G0/(1+jw/wc) (1)
the low-pass filter is designed according to equation (1):
continuously sampling n times and carrying out arithmetic mean, wherein the mathematical expression is as follows:
wherein,is the arithmetic mean of n sampling values;
will be provided withB substituted for formula (2)jAnd (3) calculating an accurate state vector:
wherein A isiFor this precise state vector, BjFor this sampled value, gjAs weighting factors, ω, of the sampled valuescTo the cut-off frequency, rc is the time constant, tsFor sample time, α is the low pass filter coefficient;
and (3) calculating the detected n height vectors z or the horizontal vector y or the horizontal vector x or the pitching attitude angle phi or the rolling attitude angle theta through a formula (4) to obtain the current accurate height vector z or the current accurate horizontal vector y or the current accurate horizontal vector x or the current accurate pitching attitude angle phi or the current accurate rolling attitude angle theta.
Specifically, the design method of the attitude controller is as follows:
for the attitude subsystem of a quad-rotor drone,
introducing a tracking error and an integral term thereof:
wherein, X1For this accurate pitching attitude angle phi, X1dIs the pitch attitude angle desired value phid，k1A weighting factor that is an error;
consider the lyapunov function and its derivative over time for both:
wherein c is1Is an integral term parameter;
let fiIs a virtual control quantity, and has the expression
β therein1Is an error parameter;
second, a tracking error is introduced:
then consider the lyapunov function and the derivative to time:
order to
Then the control law can be designed:
so thatNegative definite, wherein β1，β2Are all greater than 0, U2A pitch channel control quantity; according to the Lyapunov theorem of stability, the designed control law can be guaranteed (e)1，e2) Gradually approaching zero;
roll channel control quantity U3And yaw channel control quantity U4And obtaining the control quantity U of the pitching channel2The derivation process is the same; the parameter definition rules are also consistent, so only the derivation conclusion is given:
specifically, the design method of the height controller is as follows:
height control U1And obtaining the control quantity U of the pitching channel2The derivation process is the same; the parameter definition rules are also consistent, so only the derivation conclusion is given:
specifically, the design method of the horizontal position controller is as follows:
the horizontal position controller is used for controlling in x and y directions and controlling the horizontal position by a horizontal position control quantity uxAnd uyAnd obtaining the control quantity U of the pitching channel2The derivation processes are the same, and the parameter definition rules are consistent, so that only the derivation conclusion is given:
the expected value phi of the pitch attitude angle is reversely solved and calculated through a reverse solving moduledAnd roll attitude angle desired value θd：
And finally, the rotating speed of the four-rotor wing is obtained by inverse solution of an equation (22):
wherein omegaj(I is 1 ~ 4) is the rotational speed of rotor, and b is the coefficient of lift, and d is the coefficient of resistance, and I is the distance of rotor pivot to organism center.
The invention has the advantages that: the control algorithm combining the self-adaptive integral backstepping method and the hybrid filtering algorithm is applied to the oil-driven four-rotor unmanned aerial vehicle which is greatly interfered by the external environment, can reduce steady-state errors and improve the flight anti-interference performance of the oil-driven four-rotor unmanned aerial vehicle. Compared with the conventional integral back-stepping algorithm, the method fully proves that the system has the advantages of good and stable convergence, ideal control effect, strong track tracking characteristic, strong robustness and anti-gust interference.
Description of the drawings:
fig. 1 is a control structure diagram of a quad-rotor drone according to embodiment 1;
FIG. 2 is a diagram of attitude simulation using conventional integral backstepping control;
FIG. 3 is a motor speed simulation graph controlled by a conventional integral backstepping method;
FIG. 4 is a graph of attitude angle error simulation using conventional integral back-stepping control;
FIG. 5 is a diagram of a pose simulation controlled using the method of the present invention;
FIG. 6 is a motor speed simulation graph controlled using the method of the present invention;
FIG. 7 is a simulation of attitude angle error controlled by the method of the present invention.
The specific implementation mode is as follows:
the attitude control method of the oil-driven quad-rotor unmanned aerial vehicle based on the combination of the self-adaptive integral backstepping method and the hybrid filtering algorithm is further described with reference to the accompanying drawings:
example 1: as can be seen from fig. 1, in the attitude control method of the oil-driven quad-rotor unmanned aerial vehicle, the precise height vector z, the precise horizontal vector y and the precise horizontal vector x are obtained by combining the filter and the arithmetic average filtering, and the height vector expected value z, the precise horizontal vector y and the precise horizontal vector x are respectively obtaineddHorizontal vector expected value ydHorizontal vector expected value xdAfter making differences with the current accurate height vector z, the current accurate horizontal vector y and the current accurate horizontal vector x, the height control quantity U is calculated through a self-adaptive backstepping control algorithm1And a horizontal position control amount uxAnd uyThen u isxAnd uyEntering the attitude controller, from uxAnd uyInverse solution of the calculated pitch attitude angle expected value phidAnd roll attitude angle desired value θdAfter the difference is made between the accurate pitching attitude angle phi and the accurate rolling attitude angle theta, the control quantity U of the pitching channel is obtained through an integral backstepping control algorithm2And roll channel control U3Similarly, the yaw channel control quantity U can be obtained4. And finally, solving the rotating speeds of the four rotors of the four-rotor aircraft according to the relation between the four channel control variables and the rotating speeds of the four rotors.
Example 2: the initial values of the pitch angle and the roll angle are set to 0.5rad, the initial value of the angular velocity is 0.5rad/s, the initial values of other state quantities are zero, the expected flying height is 1m, and the expected attitude angle and the angular velocity are zero.
When the control method is a conventional adaptive integral backstepping method, as can be seen from fig. 2, 3 and 4, under a set condition, in the case of the noise power of the oil-driven quadrotors in the conventional adaptive integral backstepping method, the attitude and the height trajectory of the quadrotors are always in deviation, and four rotating speeds of the quadrotors are in an irregular rotating state, as can be seen from fig. 4, due to the interference of continuous vibration noise, the attitude angle and the expected attitude angle have an absolute error, but the absolute error value of the attitude angle controlled by applying the conventional adaptive integral backstepping method cannot be stable, which can cause the oil-driven quadrotors to be out of control.
Example 3: the initial values of the pitch angle and the roll angle are set to 0.5rad, the initial value of the angular velocity is 0.5rad/s, the initial values of other state quantities are zero, the expected flying height is 1m, and the expected attitude angle and the angular velocity are zero.
When the control method adopts the attitude control method of the oil-driven quad-rotor unmanned aerial vehicle, under the set conditions, as can be seen from fig. 5, 6 and 7, under the condition of the same noise power of the oil-driven quad-rotor as that of the embodiment 2, the attitude and the altitude trajectory of the quad-rotor are basically consistent with the expected trajectory within the error allowable range, the four rotating speeds of the rotors are basically the same, the roll angle and the pitch angle of the oil-driven quad-rotor tend to 0 within the range of-0.1 to 0.1, and the yaw angle ranges from 0.8m to 1m and are basically consistent with the expected trajectory, as can be seen from fig. 7, the attitude angle and the expected attitude angle have a certain absolute error due to the interference of continuous vibration noise, but the absolute error value is stabilized within a very small range, and the quad-rotor can stably hover.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (6)

1. The attitude control method of the oil-driven quad-rotor unmanned aerial vehicle is characterized by comprising a height controller, a horizontal position controller, an attitude controller and a filter, wherein the filter is combined with arithmetic average filtering to obtain the current accurate height vector z, the current accurate horizontal vector y and the current accurate horizontal vector x, and the current accurate height vector z, the current accurate horizontal vector y and the current accurate horizontal vector x are respectively obtained according to the expected value z of the height vectordHorizontal vector expected value ydHorizontal vector expected value xdAfter the difference is made with the current accurate height vector z, the current accurate horizontal vector y and the current accurate horizontal vector x, the height is calculated through a self-adaptive backstepping control algorithmControl quantity U1And a horizontal position control amount uxAnd uyThen u isxAnd uyEntering the attitude controller, from uxAnd uyInverse solution of the calculated pitch attitude angle expected value phidAnd roll attitude angle desired value θdAfter the difference is made between the accurate pitching attitude angle phi and the accurate rolling attitude angle theta, the control quantity U of the pitching channel is obtained through an integral backstepping control algorithm2And roll channel control U3Similarly, the yaw channel control quantity U can be obtained4。
2. The attitude control method of an oil-powered quad-rotor drone according to claim 1, characterized in that said filter is a low-pass filter.
3. The attitude control method of an oil-driven quad-rotor Unmanned Aerial Vehicle (UAV) according to claim 2, wherein the method for obtaining the accurate state vector by combining a low-pass filter and an arithmetic mean filter is as follows:
the low-pass filter is represented by the formula (1),
G(jw)＝G0/(1+jw/wc) (1)
the low-pass filter is designed according to equation (1):
continuously sampling n times and carrying out arithmetic mean, wherein the mathematical expression is as follows:
wherein,is the arithmetic mean of n sampling values;
will be provided withB substituted for formula (2)jAnd (3) calculating an accurate state vector:
wherein A isiFor this precise state vector, BjFor this sampled value, gjAs weighting factors, ω, of the sampled valuescTo the cut-off frequency, rc is the time constant, tsFor sample time, α is the low pass filter coefficient;
and (3) calculating the detected n height vectors z or the horizontal vector y or the horizontal vector x or the pitching attitude angle phi or the rolling attitude angle theta through a formula (4) to obtain the current accurate height vector z or the current accurate horizontal vector y or the current accurate horizontal vector x or the current accurate pitching attitude angle phi or the current accurate rolling attitude angle theta.
4. An attitude control method for an oil-driven quad-rotor unmanned aerial vehicle according to any one of claims 1-3, wherein the attitude controller is designed as follows:
for the attitude subsystem of a quad-rotor drone,
introducing a tracking error and an integral term thereof:
wherein, X1For this accurate pitching attitude angle phi, X1dIs the pitch attitude angle desired value phid，k1A weighting factor that is an error;
consider the lyapunov function and its derivative over time for both:
wherein c is1Is an integral term parameter;
let fiIs a virtual control quantity, and has the expression
β therein1Is an error parameter;
second, a tracking error is introduced:
then consider the lyapunov function and the derivative to time:
order to
Then the control law can be designed:
so thatNegative definite, wherein β1，β2Are all greater than 0, U2A pitch channel control quantity; according to the Lyapunov theorem of stability, the designed control law can be guaranteed (e)1,e2) Gradually approaching zero;
roll channel control quantity U3And yaw channel control quantity U4And obtaining the control quantity U of the pitching channel2The derivation process is the same; the parameter definition rules are also consistent, so only the derivation conclusion is given:
5. the attitude control method of an oil-driven quad-rotor unmanned aerial vehicle according to claim 4, wherein the design method of the height controller is as follows:
height control U1And obtaining the control quantity U of the pitching channel2The derivation process is the same; the parameter definition rules are also consistent, so only the derivation conclusion is given:
6. an attitude control method of an oil-driven quad-rotor unmanned aerial vehicle according to claim 4, wherein the horizontal position controller is designed as follows:
the horizontal position controller is used for controlling in x and y directions and controlling the horizontal position by a horizontal position control quantity uxAnd uyAnd obtaining the control quantity U of the pitching channel2The derivation processes are the same, and the parameter definition rules are consistent, so that only the derivation conclusion is given:
the expected value phi of the pitch attitude angle is reversely solved and calculated through a reverse solving moduledAnd roll attitude angle desired value θd：
CN201810450750.7A 2018-05-11 2018-05-11 The attitude control method of the dynamic quadrotor drone of oil Pending CN108646772A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020177267A1 (en) * 2019-03-07 2020-09-10 中国科学院深圳先进技术研究院 Control method and apparatus for quadrotor unmanned aerial vehicle, device, and readable medium

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020177267A1 (en) * 2019-03-07 2020-09-10 中国科学院深圳先进技术研究院 Control method and apparatus for quadrotor unmanned aerial vehicle, device, and readable medium

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Application publication date: 20181012