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

Abstract

The invention discloses an attitude control method of an unmanned aerial vehicle with anti-interference ability. The attitude control process is divided into the following steps: (1) establishing an attitude control system model of the unmanned aerial vehicle; (2) installing a sensor on the unmanned aerial vehicle , used to transmit the position of the UAV in the process of movement; (3) Design a finite-time observer and transmit the position data collected by the sensor to the finite-time control algorithm module, so that the UAV attitude can be realized in a limited time. Inner calm to a set consisting of the equilibrium points of the system. The time-limited UAV attitude control method of the present invention has the advantages of fast control speed, no shaking phenomenon, energy saving, low requirements on hardware equipment, high motion robustness, strong practicability, and easy commercialization.

Description

A UAV Attitude Control Method With Anti-jamming Ability

technical field

The invention relates to the technical field of UAV attitude control, in particular to a UAV attitude control method with anti-interference capability.

Background technique

The traditional attitude maneuvering method is to use the Euler angle as a feedback signal, and use the nozzle or engine swing angle to control. The force provided by this type of thrust vectoring mechanism is nonlinear, and some also have the characteristics of switching on and off, similar to the relay control function, so the direct nonlinear control scheme will have better effect and be easier to implement. Therefore, variable structure control methods that are robust to system parameter perturbations and external disturbances have received great attention.

At present, there are roughly three kinds of control algorithms for UAV attitude: (1) adaptive control method, (2) optimization method, and (3) robust control method; however, these algorithms are computationally complex, require a large amount of computation, and have real-time effects on the system. High performance requirements will increase the cost of algorithm implementation, which is not conducive to practical applications.

Therefore, in order to solve the above problems, it is necessary to propose a UAV attitude control algorithm with good stability, strong real-time performance and low cost, which can be used in practical applications.

SUMMARY OF THE INVENTION

The invention provides an unmanned aerial vehicle attitude control method with anti-interference ability, the algorithm has good stability, strong real-time performance, low cost, and is convenient for practical application.

The present invention obtains by adopting the following technical solutions:

A UAV attitude control method with anti-jamming capability, comprising the following steps:

(1) The general UAV attitude control system consists of attitude dynamics and attitude motion; establish a UAV attitude control system model, which includes attitude dynamics and attitude kinematics, and the UAV attitude dynamics equation can be calculated by differential equations Formula (1) describes:

In formula (1), J=diag(J ₁ , J ₂ , J ₃ ) is the inertia matrix, ω=[ω ₁ , ω ₂ , ω ₃ ] ^T is the angular velocity vector, u=[u ₁ , u ₂ , u ₃ ] ^T is the control input signal, d(t)=[d ₁ (t), d ₂ (t), d ₃ (t)] ^T is the external disturbance, and there is a constant l satisfying |d _i (t)|≤ l,l>0,i=1,2,3, s(ω) is an oblique symmetric matrix, that is

The UAV attitude kinematics equation is usually:

In formula (2) is the quaternion of the drone,

In formula (3), I ₃ is a 3×3 identity matrix, q ₀ =cos(Φ/2), q _i =e _i sin(Φ/2), i=1,2,3., where Φ is Euler rotation angle, e is the unit vector of the rotation axis, e _i , i=1, 2, 3. It is the cosine of e in the three directions in the reference coordinate system, and there are established, then established;

(2) A sensor for transmitting position information is installed on the UAV; feedback information is provided for the limited-time controller, which is used to transmit the position of the UAV during the movement from time to time;

Combining formulas (1) and (2), the mathematical model of the UAV attitude control system can be rewritten as:

In formula (4) interference

D(t)=[D ₁ (t), D ₂ (t), D ₃ (t)] ^T = J ⁻¹ [d ₁ (t), d ₂ (t), d ₃ (t)] ^T ;

(3) Design a finite-time observer and transmit the position data collected by the sensor to the finite-time control algorithm module, so that the UAV attitude can be stabilized to a set consisting of the balance points of the system within a limited time;

For formulas (1) and (2) in step (1), design a finite-time controller:

In formula (5), where k ₁ , k ₂ , and k ₃ are constants, and k ₃ >0, 1<p=p ₁ /p ₂ <2, p ₁ and p ₂ are relatively prime positive odd numbers, then the systems of formulas (1), (2) and (5) are about the set of equilibrium points

M ₁ ={(-1,0,0,0,0,0,0),(1,0,0,0,0,0,0)}

It is stable for a limited time, that is, the attitude of the UAV is stabilized in a limited time.

Compared with the existing control technology, the present invention has the following advantages and effects:

The UAV attitude control algorithm with anti-interference ability proposed by the invention is simple in parameters selected based on limited time, and has clear physical meaning; the UAV has good motion stability and high robustness during the movement process.

Detailed ways

A UAV attitude control method with anti-jamming capability, comprising the following steps:

(1) The general UAV attitude control system is composed of attitude dynamics and attitude motion; a model of the UAV attitude control system is established, which includes attitude dynamics and attitude kinematics; the UAV attitude dynamics equation can be determined by the differential equation Formula (1) describes:

In formula (1), J=diag(J ₁ , J ₂ , J ₃ ) is the inertia matrix, ω=[ω ₁ , ω ₂ , ω ₃ ] ^T is the angular velocity vector, u=[u ₁ , u ₂ , u ₃ ] ^T is the control input signal, d(t)=[d ₁ (t), d ₂ (t), d ₃ (t)] ^T is the external disturbance, and there is a constant l that satisfies |d _i (t)| ≤l, l>0, i=1, 2, 3, s(ω) is an obliquely symmetric matrix, that is

The UAV attitude kinematics equation is usually:

In formula (2) is the quaternion of the drone,

In formula (3), I ₃ is a 3×3 identity matrix, q ₀ =cos(Φ/2), q _i =e _i sin(Φ/2), i=1,2,3., where Φ is Euler rotation angle, e is the unit vector of the rotation axis, e _i , i=1, 2, 3. It is the cosine of e in the three directions in the reference coordinate system, and there are established, then established;

(2) A sensor for transmitting position information is installed on the UAV; feedback information is provided for the limited-time controller, which is used to transmit the position of the UAV during the movement from time to time;

Combining formulas (1) and (2), the mathematical model of the UAV attitude control system can be rewritten as:

In formula (4) interference

D(t)=[D ₁ (t), D ₂ (t), D ₃ (t)] ^T = J ⁻¹ [d ₁ (t), d ₂ (t), d ₃ (t)] ^T ;

(3) Design a finite-time observer and transmit the position data collected by the sensor to the finite-time control algorithm module, so that the UAV attitude can be stabilized to a set consisting of the balance points of the system within a limited time;

For formulas (1) and (2) in step (1), design a finite-time controller:

In formula (5), where k ₁ , k ₂ , and k ₃ are constants, and k ₃ >0, 1<p=p ₁ /p ₂ <2, p ₁ and p ₂ are relatively prime positive odd numbers, then the systems of formulas (1), (2) and (5) are about the set of equilibrium points

M ₁ ={(-1,0,0,0,0,0,0),(1,0,0,0,0,0,0)}

It is stable for a limited time, that is, the attitude of the UAV is stabilized in a limited time.

Compared with the existing control technology, the present invention has the following advantages and effects:

The UAV attitude control algorithm with anti-interference ability proposed by the invention is simple in parameters selected based on limited time, and has clear physical meaning; the UAV has good motion stability and high robustness during the movement process.

The above are only the preferred embodiments of the present invention. It should be pointed out that for those skilled in the art, without departing from the principles of the present invention, several improvements and modifications can be made. It should be regarded as the 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 | d_i(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), q_i=e_iSin (Φ/2), i=1,2,3., wherein Φ is Euler's corner, and e is the unit vector of shaft, e_i, 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.