CN110032205A - A kind of UAV Attitude control method with anti-interference ability - Google Patents

A kind of UAV Attitude control method with anti-interference ability Download PDF

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CN110032205A
CN110032205A CN201910354439.7A CN201910354439A CN110032205A CN 110032205 A CN110032205 A CN 110032205A CN 201910354439 A CN201910354439 A CN 201910354439A CN 110032205 A CN110032205 A CN 110032205A
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formula
unmanned plane
finite
uav attitude
attitude
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CN110032205B (en
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王宇轩
褚啸
王得宇
张望鸿
姬翠翠
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Changzhou Campus of Hohai University
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Changzhou Campus of Hohai University
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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
    • G05D1/0825—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability using mathematical models

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  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Pure & Applied Mathematics (AREA)
  • Mathematical Optimization (AREA)
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  • Mathematical Analysis (AREA)
  • Algebra (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Feedback Control In General (AREA)

Abstract

The UAV Attitude control method with anti-interference ability that the invention discloses a kind of, gesture stability process are divided into the following steps: (1) establishing pose control system for unmanned plane model；(2) sensor is installed on unmanned plane, for constantly transmitting the position of unmanned plane during the motion；(3) it designs finite time observer and constantly collected position data is transferred in finite-time control algoritic module by sensor, so that UAV Attitude realization is calmed in finite time to the set being made of the equalization point of system.A kind of UAV Attitude control method based on finite time of the invention, control speed is fast, will not generate phenomenon of shivering, save energy, requires hardware device lower, motion robustness height, practical, is easy to be commercialized.

Description

A kind of UAV Attitude control method with anti-interference ability
Technical field
The present invention relates to the technical fields of UAV Attitude control, and in particular to a kind of unmanned plane with anti-interference ability Attitude control method.
Background technique
Traditional attitude maneuver method is to make feedback signal using Eulerian angles, is controlled with jet pipe or engine pivot angle System.The active force that this kind of thrust vectoring mechanism provides be it is nonlinear, some also have the characteristics that the switching of Push And Release, be similar to after Electricity；Device control action, thus can be relatively good using direct nonlinear Control scheme works, and be relatively easy to realize.Therefore, to being There is the variable structure control method of robustness to receive very big attention for system Parameter Perturbation and external disturbance.
At present for UAV Attitude control algolithm substantially there are three types of: (1) self-adaptation control method, (2) optimization side Method, (3) robust control method；But these algorithms calculate requirement of real-time height complicated, computationally intensive, to system, this will increase Computation system cost of implementation, is unfavorable for practical application.
Therefore, to solve the above problems, needing to propose good a kind of stability, strong real-time, at low cost, practical application is utilized UAV Attitude control algolithm.
Summary of the invention
The present invention provides a kind of UAV Attitude control method with anti-interference ability, and the algorithm stability is good, real-time Property it is strong, at low cost, be convenient for practical application.
The invention is characterized in that following technical solution obtains:
A kind of UAV Attitude control method with anti-interference ability, including the following steps:
(1), general pose control system for unmanned plane is made of attitude dynamics and attitude motion；Establish UAV Attitude control System model processed includes attitude dynamics and attitude kinematics in model, and UAV Attitude kinetics equation can be by the differential equation Formula (1) description:
In formula (1), J=diag (J1,J2,J3) it is inertia matrix, ω=[ω1,ω2,ω3]TFor angular velocity vector, u =[u1,u2,u3]TTo control input signal, d (t)=[d1(t),d2(t),d3(t)]TFor external disturbance, and there are constant l satisfactions |di(t) |≤l, l > 0, i=1,2,3, s (ω) is skew symmetric matrix, i.e.,
UAV Attitude kinematical equation is usual are as follows:
In formula (2)For the quaternary number of unmanned plane,
In formula (3), I3For 3 × 3 unit matrix, q0=cos (Φ/2), qi=eiSin (Φ/2), i=1,2,3., Wherein Φ is Euler's corner, and e is the unit vector of shaft, ei, i=1,2,3. is more than three directions of the e in reference frame String, and haveIt sets up, thenIt sets up；
(2), the sensor for being used for transmission location information is installed on unmanned plane；Feedback is provided for finite-time control device Information, for constantly transmitting the position of unmanned plane during the motion；
In conjunction with formula (1), (2), the mathematical model of pose control system for unmanned plane can be rewritten are as follows:
In formula (4)Interference
D (t)=[D1(t),D2(t),D3(t)]T=J-1[d1(t),d2(t),d3(t)]T；
(3), it designs finite time observer and constantly collected position data is transferred to finite time control by sensor In algoritic module processed, so that UAV Attitude realization is calmed in finite time to the set being made of the equalization point of system；
For the formula (1) in step (1), (2), finite-time control device is designed:
In formula (5), wherein k1、k2、k3For constant, and k3> 0, 1 < p=p1/p2< 2, p1And p2For relatively prime positive surprise Number, then formula (1), (2) and (5) system are about equalization point set
M1={ (- 1,0,0,0,0,0,0), (1,0,0,0,0,0,0) }
For finite time stability, i.e. UAV Attitude is calmed in finite time.
The present invention has the following advantages that relative to existing control technology and effect:
The parameter that UAV Attitude control algolithm proposed by the present invention with anti-interference ability is selected based on finite time Simply, physical meaning is clear；Unmanned plane kinetic stability is good in motion process, and robustness is high.
Specific embodiment
A kind of UAV Attitude control method with anti-interference ability, including the following steps:
(1), general pose control system for unmanned plane is made of attitude dynamics and attitude motion；Establish UAV Attitude control System model processed includes attitude dynamics and attitude kinematics in model；UAV Attitude kinetics equation can be by the differential equation Formula (1) description:
In formula (1), J=diag (J1,J2,J3) it is inertia matrix, ω=[ω1,ω2,ω3]TFor angular velocity vector, u =[u1,u2,u3]TTo control input signal, d (t)=[d1(t),d2(t),d3(t)]TFor external disturbance, while that there are constant l is full Foot | di(t) |≤l, l > 0, i=1,2,3, s (ω) is skew symmetric matrix, i.e.,
UAV Attitude kinematical equation is usual are as follows:
In formula (2)For the quaternary number of unmanned plane,
In formula (3), I3For 3 × 3 unit matrix, q0=cos (Φ/2), qi=eiSin (Φ/2), i=1,2,3., Wherein Φ is Euler's corner, and e is the unit vector of shaft, ei, i=1,2,3. is more than three directions of the e in reference frame String, and haveIt sets up, thenIt sets up；
(2), the sensor for being used for transmission location information is installed on unmanned plane；Feedback is provided for finite-time control device Information, for constantly transmitting the position of unmanned plane during the motion；
In conjunction with formula (1), (2), the mathematical model of pose control system for unmanned plane can be rewritten are as follows:
In formula (4)Interference
D (t)=[D1(t),D2(t),D3(t)]T=J-1[d1(t),d2(t),d3(t)]T；
(3), it designs finite time observer and constantly collected position data is transferred to finite time control by sensor In algoritic module processed, so that UAV Attitude realization is calmed in finite time to the set being made of the equalization point of system；
For the formula (1) in step (1), (2), finite-time control device is designed:
In formula (5), wherein k1、k2、k3For constant, and k3> 0, 1 < p=p1/p2< 2, p1And p2For relatively prime positive surprise Number, then formula (1), (2) and (5) system are about equalization point set
M1={ (- 1,0,0,0,0,0,0), (1,0,0,0,0,0,0) }
For finite time stability, i.e. UAV Attitude is calmed in finite time.
The present invention has the following advantages that relative to existing control technology and effect:
The parameter that UAV Attitude control algolithm proposed by the present invention with anti-interference ability is selected based on finite time Simply, physical meaning is clear；Unmanned plane kinetic stability is good in motion process, and robustness is high.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered It is considered as protection scope of the present invention.

Claims (1)

1. a kind of UAV Attitude control method with anti-interference ability, it is characterised in that include the following steps:
(1), pose control system for unmanned plane model is established, includes attitude dynamics and attitude kinematics in model；
UAV Attitude kinetics equation is described by differential equation formula (1):
In formula (1), J=diag (J1,J2,J3) it is inertia matrix, ω=[ω1,ω2,ω3]TFor angular velocity vector, u=[u1, u2,u3]TTo control input signal, d (t)=[d1(t),d2(t),d3(t)]TFor external disturbance, and there are constant l satisfactions | di(t) |≤l, l > 0, i=1,2,3, s (ω) is skew symmetric matrix, i.e.,
UAV Attitude kinematical equation are as follows:
In formula (2)For the quaternary number of unmanned plane,
In formula (3), I3For 3 × 3 unit matrix, q0=cos (Φ/2), qi=eiSin (Φ/2), i=1,2,3., wherein Φ is Euler's corner, and e is the unit vector of shaft, ei, i=1,2,3. be three direction cosines of the e in reference frame, and HaveIt sets up, thenIt sets up；
(2), the sensor for being used for transmission location information is installed on unmanned plane, provides feedback letter for finite-time control device Breath, for constantly transmitting the position of unmanned plane during the motion；
In conjunction with formula (1), (2), the mathematical model of pose control system for unmanned plane is rewritten are as follows:
In formula (4)Interference
D (t)=[D1(t),D2(t),D3(t)]T=J-1[d1(t),d2(t),d3(t)]T；
(3), it designs finite time observer and constantly collected position data is transferred to finite-time control calculation by sensor In method module, so that UAV Attitude realization is calmed in finite time to the set being made of the equalization point of system；
For the formula (1) in step (1), (2), finite-time control device is designed:
In formula (5), wherein k1、k2、k3For constant, and k3> 0, 1 < p=p1/p2< 2, p1And p2For relatively prime positive surprise Number, then formula (1), (2) and (5) system are about equalization point set
M1={ (- 1,0,0,0,0,0,0), (1,0,0,0,0,0,0) }
For finite time stability, i.e. UAV Attitude is calmed in finite time.
CN201910354439.7A 2019-04-29 2019-04-29 Unmanned aerial vehicle attitude control method with anti-jamming capability Active CN110032205B (en)

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