CN110376898A - The fast terminal Sliding Mode Adaptive Control system and method for quadrotor drone - Google Patents
The fast terminal Sliding Mode Adaptive Control system and method for quadrotor drone Download PDFInfo
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- CN110376898A CN110376898A CN201910747276.9A CN201910747276A CN110376898A CN 110376898 A CN110376898 A CN 110376898A CN 201910747276 A CN201910747276 A CN 201910747276A CN 110376898 A CN110376898 A CN 110376898A
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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
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides the fast terminal Sliding Mode Adaptive Control system and method for quadrotor drone, and using double circle structure, outer ring is location subsystem, and inner ring is posture subsystem；The input of the location subsystem of outer ring is given desired signal, and the input of the posture subsystem of inner ring is rolling, Pitch signal and the desired off-course signal exported by location subsystem；Further include ART network subsystem, be used for estimating system parameter, switching function is replaced using saturation function.Inside and outside ring structure control method is used according to control command；Outer ring output position control law acts on location subsystem, exports the input of pitching, roll angle as posture subsystem；Inner ring output pitching, roll, yaw angle control law act on posture subsystem.The present invention improves the flight control performance of quadrotor drone, enhances the stability and robustness of system, reduces the response time of system.
Description
Technical field
The present invention relates to UAV Attitude control technology fields, and in particular to the fast terminal sliding formwork of quadrotor drone is certainly
Adaption Control System and its method.
Background technique
Quadrotor drone have can hover, the superior functions such as VTOL, be widely used in military, civil field.
However quadrotor drone is the complication system of a nonlinearity, close coupling, drive lacking, traditional PID control is only four
Rotor wing unmanned aerial vehicle works near hovering point, with approximately linear characteristic when with preferable control effect, robustness is poor.
Although traditional sliding formwork control can control nonlinear system, there are chattering phenomenons, and system mode is not
Can in finite time fast convergence.
The external interference of usual quadrotor drone changes at random, and the unmanned plane of certain specific functions is come
It says, spontaneous parameter can change in aerial mission, such as the gross mass of plant protection drone, with the sprinkling of pesticide,
Quality is being gradually reduced.Need design adaptive law come to unmanned plane quality and external interference estimate.
Summary of the invention
The present invention provides the fast terminal Sliding Mode Adaptive Control system and method for quadrotor drone, are mainly used for
Quadrotor drone controls posture, quick trace command signal in flight, and designated position is arrived in flight.
The fast terminal Sliding Mode Adaptive Control system of quadrotor drone, using double circle structure, outer ring is position
System, inner ring are posture subsystems；
The input of the location subsystem of outer ring is given desired signal, and the input of the posture subsystem of inner ring is by position
Rolling, Pitch signal and the desired off-course signal of subsystem output；
Further include ART network subsystem, be used for estimating system parameter, switching function is replaced using saturation function.
The fast terminal Sliding Mode Adaptive Control method of quadrotor drone uses inside and outside ring structure control according to control command
Method processed；
The outer loop control is location subsystem controller, and algorithm, which uses, is based on adaptive fast terminal sliding formwork control,
Output position control law acts on location subsystem, exports the input of pitching, roll angle as posture subsystem；
The inner loop control, be posture subsystem controller, output pitching, roll, yaw angle control law act on
Posture subsystem.
Quadrotor drone model is divided into attitude mode and position model two parts, control structure uses two close cycles knot
Structure, outer ring are location subsystems, and inner ring is posture subsystem.
Design adaptive law is used for estimating system parameter, to enhance the robustness of system.It replaces cutting using saturation function
Exchange the letters number eliminates the chattering phenomenon in sliding formwork control.Fly control PIXHAWK using open source control algolithm is written in winged control, debugging
Parameter, in quadrotor drone.
Fast terminal sliding formwork control can control system mode error, and rapid convergence is to zero in finite time, to quickly ring
It answers, quickly tracks upper command signal.
The beneficial effects of the present invention are: improving the flight control performance of quadrotor drone, the stabilization of system is enhanced
Property and robustness, reduce the response time of system.
Detailed description of the invention
Fig. 1 is control system block diagram of the invention.
Specific embodiment
Technical solution of the present invention is described in further detail with reference to the accompanying drawing.
Hardware platform of the invention is flown control and is used PIXHAWK using four axle construction of X-shaped, flies control platform based on open source, will
Control algolithm write-in of the invention.
The hardware platform include four axis racks, brushless motor, electric tune, battery, propeller, paddle cover, receiver of remote-control sytem,
Number passes.Flight control system includes central processing unit, necessary sensor, for example, compass, barometer, accelerometer, gyroscope,
GPS etc..
Fig. 1 is the block diagram of control algolithm, using inside and outside ring structure.Outer ring is location subsystem controller, and algorithm uses base
In adaptive fast terminal sliding formwork control, output position control law acts on location subsystem, and output pitching, roll angle are as appearance
The input of state subsystem.Inner ring is posture subsystem controller, output pitching, roll, yaw angle control law act on posture
Subsystem.The posture of last whole system output unmanned plane, position.
Claims (2)
1. the fast terminal Sliding Mode Adaptive Control system of quadrotor drone, which is characterized in that use double circle structure, outer ring
It is location subsystem, inner ring is posture subsystem；
The input of the location subsystem of outer ring is given desired signal, and the input of the posture subsystem of inner ring is by position subsystem
Rolling, Pitch signal and the desired off-course signal of system output；
Further include ART network subsystem, be used for estimating system parameter, switching function is replaced using saturation function.
2. the fast terminal Sliding Mode Adaptive Control method of quadrotor drone, which is characterized in that it is using claim 1 is
System uses inside and outside ring structure control method according to control command；
The outer loop control is location subsystem controller, and algorithm, which uses, is based on adaptive fast terminal sliding formwork control, output
Position control rule acts on location subsystem, exports the input of pitching, roll angle as posture subsystem；
The inner loop control, be posture subsystem controller, output pitching, roll, yaw angle control law act on posture
Subsystem.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910747276.9A CN110376898A (en) | 2019-08-14 | 2019-08-14 | The fast terminal Sliding Mode Adaptive Control system and method for quadrotor drone |
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| CN201910747276.9A CN110376898A (en) | 2019-08-14 | 2019-08-14 | The fast terminal Sliding Mode Adaptive Control system and method for quadrotor drone |
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| CN110376898A true CN110376898A (en) | 2019-10-25 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104139860A (en) * | 2014-04-23 | 2014-11-12 | 李晓宇 | Multi-shaft rotor aircraft and transmission mechanism thereof |
| CN107479371A (en) * | 2017-07-03 | 2017-12-15 | 浙江工业大学 | A kind of four rotor wing unmanned aerial vehicle finite time self-adaptation control methods based on quick non-singular terminal sliding formwork |
| CN107688295A (en) * | 2017-08-29 | 2018-02-13 | 浙江工业大学 | A kind of quadrotor finite time self-adaptation control method based on fast terminal sliding formwork |
| CN109884895A (en) * | 2019-03-11 | 2019-06-14 | 南京邮电大学 | Based on the unmanned plane adaptive Gaussian filtering algorithm under saturation limited situation |
| CN109901606A (en) * | 2019-04-11 | 2019-06-18 | 大连海事大学 | A kind of mixing finite time control method for quadrotor Exact trajectory tracking |
-
2019
- 2019-08-14 CN CN201910747276.9A patent/CN110376898A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104139860A (en) * | 2014-04-23 | 2014-11-12 | 李晓宇 | Multi-shaft rotor aircraft and transmission mechanism thereof |
| CN107479371A (en) * | 2017-07-03 | 2017-12-15 | 浙江工业大学 | A kind of four rotor wing unmanned aerial vehicle finite time self-adaptation control methods based on quick non-singular terminal sliding formwork |
| CN107688295A (en) * | 2017-08-29 | 2018-02-13 | 浙江工业大学 | A kind of quadrotor finite time self-adaptation control method based on fast terminal sliding formwork |
| CN109884895A (en) * | 2019-03-11 | 2019-06-14 | 南京邮电大学 | Based on the unmanned plane adaptive Gaussian filtering algorithm under saturation limited situation |
| CN109901606A (en) * | 2019-04-11 | 2019-06-18 | 大连海事大学 | A kind of mixing finite time control method for quadrotor Exact trajectory tracking |
Non-Patent Citations (1)
| Title |
|---|
| 余杭: "小型四旋翼无人机飞行控制算法研究", 《中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑》 * |
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Application publication date: 20191025 |