CN110398976A - Flying vehicles control method, apparatus and computer readable storage medium - Google Patents
Flying vehicles control method, apparatus and computer readable storage medium Download PDFInfo
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- CN110398976A CN110398976A CN201810369640.8A CN201810369640A CN110398976A CN 110398976 A CN110398976 A CN 110398976A CN 201810369640 A CN201810369640 A CN 201810369640A CN 110398976 A CN110398976 A CN 110398976A
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- 238000000034 method Methods 0.000 title claims abstract description 63
- 238000003860 storage Methods 0.000 title claims abstract description 16
- 230000008569 process Effects 0.000 claims abstract description 28
- 238000012545 processing Methods 0.000 claims description 26
- 238000005096 rolling process Methods 0.000 claims description 14
- 230000006870 function Effects 0.000 claims description 10
- 230000000694 effects Effects 0.000 claims description 9
- 238000013461 design Methods 0.000 claims description 6
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- 238000004590 computer program Methods 0.000 description 6
- 239000011159 matrix material Substances 0.000 description 5
- 230000008859 change Effects 0.000 description 3
- 238000011156 evaluation Methods 0.000 description 2
- 230000002401 inhibitory effect Effects 0.000 description 2
- 230000005764 inhibitory process Effects 0.000 description 2
- 230000001052 transient effect Effects 0.000 description 2
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- 238000004364 calculation method Methods 0.000 description 1
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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
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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
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Present disclose provides a kind of flying vehicles control method, apparatus and computer readable storage mediums, are related to field of computer technology.Flying vehicles control method therein includes: to determine desired aircraft vertical speed using the present level of aircraft desired present level and aircraft；Using the vertical speed of current flight device, the preceding desired aircraft Throttle Opening Control amount of a flying vehicles control process, the estimated value that aircraft vertical speed is always disturbed is determined；The vertical speed of the estimated value, current flight device that are always disturbed using desired aircraft vertical speed, aircraft vertical speed determines desired aircraft Throttle Opening Control amount；Using desired aircraft Throttle Opening Control amount, the motor control amount of aircraft is determined.The disclosure can the external interference amount that is subject to of real-time estimation aircraft altitude to give suitable compensation so that aircraft has better anti-interference ability and dynamic control performance.
Description
Technical field
This disclosure relates to field of computer technology, in particular to a kind of flying vehicles control method, apparatus and computer-readable
Storage medium.
Background technique
Multi-rotor aerocraft is that a kind of layout is novel, the flexible flying platform of maneuverability, has been used in logistics at present
In transport.Multi-rotor aerocraft is the dynamic system of a complicated non-linear, close coupling, multiple-input and multiple-output, opposite one
As control object have increasingly complex control process.For multi-rotor aerocraft, the stability contorting of height is that aircraft is held
The basis of row upper layer aerial mission.In entire more rotor flying control systems, height controller is according to desired flying height
The current elevation information with aircraft calculates desired Throttle Opening Control amount by height-holding control law and is sent into subsequent control ring
Section.
Summary of the invention
The technical problem that the disclosure solves is how to make aircraft that there is better anti-interference ability and dynamic to control
Performance processed.
According to the one aspect of the embodiment of the present disclosure, a kind of flying vehicles control method is provided, comprising: utilize the aircraft phase
The present level of prestige and the present level of aircraft, determine desired aircraft vertical speed；Utilize the vertical of current flight device
Speed, the preceding desired aircraft Throttle Opening Control amount of a flying vehicles control process, determine that aircraft vertical speed is always disturbed
Estimated value；The estimated value that is always disturbed using desired aircraft vertical speed, aircraft vertical speed, current flight device
Vertical speed, determine desired aircraft Throttle Opening Control amount；Using desired aircraft Throttle Opening Control amount, aircraft is determined
Motor control amount.
In some embodiments, desired winged using the vertical speed of current flight device, a preceding flying vehicles control process
Row device Throttle Opening Control amount determines that the estimated value that aircraft vertical speed is always disturbed includes: to utilize extended state observer pair
The vertical speed of current flight device, the preceding desired aircraft Throttle Opening Control amount of a flying vehicles control process are handled, and are obtained
The estimated value that aircraft vertical speed is always disturbed.
In some embodiments, the vertical speed using extended state observer to current flight device, a preceding aircraft
The desired aircraft Throttle Opening Control amount of control process is handled, and the estimated value packet that aircraft vertical speed is always disturbed is obtained
It includes: utilizing formula
Determine the estimated value that aircraft vertical speed is always disturbed, wherein z1Indicate current flight device vertical speed
Estimated value, z2Indicate the estimated value always disturbed that aircraft vertical speed is subject to, V indicates the vertical speed of current flight device, β1、
β2Indicate the estimation performance parameter of extended state observer, B indicates the estimated value of aircraft Throttle Opening Control efficiency, u1Indicate previous
The secondary desired aircraft Throttle Opening Control amount of flying vehicles control process, e, α, δ are the design parameter of fal function.
In some embodiments, it using the present level of aircraft desired present level and aircraft, determines desired
Aircraft vertical speed includes: to subtract each other the present level of the desired present level of aircraft and aircraft, obtains aircraft
Height error；PID control parameter processing is carried out to the height error of aircraft, obtains desired aircraft vertical speed.
In some embodiments, PID control parameter processing is carried out to the height error of aircraft, obtained desired
Aircraft vertical speed includes: to utilize formula
Determine desired aircraft vertical speed, wherein VcIndicate desired aircraft vertical speed, eHIndicate aircraft
Height error, KP、KI、KDRespectively indicate the proportional control factor of proportional plus integral plus derivative controller, integral control coefficient and micro-
Divide control coefrficient.
In some embodiments, estimated using what desired aircraft vertical speed, aircraft vertical speed were always disturbed
The vertical speed of evaluation, current flight device determines that desired aircraft Throttle Opening Control amount includes: to utilize desired aircraft vertical
Estimated value that speed, aircraft vertical speed are always disturbed, the vertical speed of current flight device carry out Active Disturbance Rejection Control processing,
Obtain desired aircraft Throttle Opening Control amount.
In some embodiments, estimated using what desired aircraft vertical speed, aircraft vertical speed were always disturbed
The vertical speed progress Active Disturbance Rejection Control processing of evaluation, current flight device, obtaining desired aircraft Throttle Opening Control amount includes: benefit
Use formula
Determine desired aircraft Throttle Opening Control amount, wherein VcIndicate desired aircraft vertical speed instruction, V is indicated
The vertical speed of current flight device, z2Indicate the estimated value always disturbed that aircraft vertical speed is subject to, B indicates aircraft throttle
The estimated value of control efficiency, KP、KDRespectively indicate proportional control factor and the differential control system of proportional plus integral plus derivative controller
Number.
In some embodiments, using desired aircraft Throttle Opening Control amount, determine that the motor control amount of aircraft includes:
PID controller calculating aircraft rolling control amount is used in roll channel, is calculated and is flown using PID controller in pitch channel
Row device pitch control amount yaws control amount using PID controller calculating aircraft in jaw channel；Aircraft rolling is controlled
Amount, aircraft pitch control amount, vehicle yaw control amount and desired aircraft Throttle Opening Control amount carry out at control distribution
Reason, determines the motor control amount of aircraft.
According to the other side of the embodiment of the present disclosure, a kind of flying vehicles control device is provided, comprising: vertical speed is true
Cover half block is configured as the present level using aircraft desired present level and aircraft, determines that desired aircraft hangs down
Straight speed；Estimated value determining module is disturbed, vertical speed, a preceding flying vehicles control mistake using current flight device are configured as
The desired aircraft Throttle Opening Control amount of journey, determines the estimated value that aircraft vertical speed is always disturbed；Throttle Opening Control amount determines
Module is configured as the estimated value always disturbed using desired aircraft vertical speed, aircraft vertical speed, currently flown
The vertical speed of row device determines desired aircraft Throttle Opening Control amount；Motor control amount determining module is configured as utilizing expectation
Aircraft Throttle Opening Control amount, determine the motor control amount of aircraft.
In some embodiments, disturbance estimated value determining module is configured as: being flown using extended state observer to current
The vertical speed of row device, the preceding desired aircraft Throttle Opening Control amount of a flying vehicles control process are handled, and aircraft is obtained
The estimated value that vertical speed is always disturbed.
In some embodiments, disturbance estimated value determining module is configured as: utilizing formula
Determine the estimated value that aircraft vertical speed is always disturbed, wherein z1Indicate current flight device vertical speed
Estimated value, z2Indicate the estimated value always disturbed that aircraft vertical speed is subject to, V indicates the vertical speed of current flight device, β1、
β2Indicate the estimation performance parameter of extended state observer, B indicates the estimated value of aircraft Throttle Opening Control efficiency, u1Indicate previous
The secondary desired aircraft Throttle Opening Control amount of flying vehicles control process, e, α, δ are the design parameter of fal function.
In some embodiments, vertical speed determining module is configured as: by the desired present level of aircraft and flight
The present level of device subtracts each other, and obtains the height error of aircraft；PID control parameter is carried out to the height error of aircraft
Processing, obtains desired aircraft vertical speed.
In some embodiments, vertical speed determining module is configured as: utilizing formula
Determine desired aircraft vertical speed, wherein VcIndicate desired aircraft vertical speed, eHIndicate aircraft
Height error, KP、KI、KDRespectively indicate the proportional control factor of proportional plus integral plus derivative controller, integral control coefficient and micro-
Divide control coefrficient.
In some embodiments, Throttle Opening Control amount determining module is configured as: using desired aircraft vertical speed, being flown
Estimated value that row device vertical speed is always disturbed, the vertical speed of current flight device carry out Active Disturbance Rejection Control processing, must expire
The aircraft Throttle Opening Control amount of prestige.
In some embodiments, Throttle Opening Control amount determining module is configured as: utilizing formula
Determine desired aircraft Throttle Opening Control amount, wherein VcIndicate desired aircraft vertical speed instruction, V is indicated
The vertical speed of current flight device, z2Indicate the estimated value always disturbed that aircraft vertical speed is subject to, B indicates aircraft throttle
The estimated value of control efficiency, KP、KDRespectively indicate proportional control factor and the differential control system of proportional plus integral plus derivative controller
Number.
In some embodiments, motor control amount determining module is configured as: PID controller meter is used in roll channel
Aircraft rolling control amount is calculated, PID controller calculating aircraft pitch control amount is used in pitch channel, in jaw channel
Control amount is yawed using PID controller calculating aircraft；To aircraft rolling control amount, aircraft pitch control amount, aircraft
Yaw control amount and desired aircraft Throttle Opening Control amount carry out control allocation processing, determine the motor control amount of aircraft.
According to the another aspect of the embodiment of the present disclosure, a kind of flying vehicles control device is provided, wherein include: storage
Device；And it is coupled to the processor of memory, processor is configured as executing above-mentioned based on instruction stored in memory
Flying vehicles control method.
According to another aspect of the embodiment of the present disclosure, a kind of computer readable storage medium is provided, wherein computer
Readable storage medium storing program for executing is stored with computer instruction, and instruction realizes flying vehicles control method above-mentioned when being executed by processor.
The disclosure can the external interference amount that is subject to of real-time estimation aircraft altitude to give suitable compensation so that flight
Device has better anti-interference ability and dynamic control performance.
By the detailed description referring to the drawings to the exemplary embodiment of the disclosure, the other feature of the disclosure and its
Advantage will become apparent.
Detailed description of the invention
In order to illustrate more clearly of the embodiment of the present disclosure or technical solution in the prior art, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Disclosed some embodiments without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Fig. 1 shows the flow diagram of tandem proportional integral differential PID control.
Fig. 2 shows the flow diagrams of the flying vehicles control method of an embodiment of the present disclosure.
Fig. 3 shows aircraft in one section of conventional non-stop flight to high hold aircraft pursuit course.
Fig. 4 shows flying quality curve of the aircraft when one section in-flight height meets with external interference.
Fig. 5 shows the structural schematic diagram of the flying vehicles control device of an embodiment of the present disclosure.
Fig. 6 shows the structural schematic diagram of the flying vehicles control device of the disclosure another embodiment.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present disclosure, the technical solution in the embodiment of the present disclosure is carried out clear, complete
Site preparation description, it is clear that described embodiment is only disclosure a part of the embodiment, instead of all the embodiments.Below
Description only actually at least one exemplary embodiment be it is illustrative, never as to the disclosure and its application or making
Any restrictions.Based on the embodiment in the disclosure, those of ordinary skill in the art are not making creative work premise
Under all other embodiment obtained, belong to the disclosure protection range.
Fig. 1 shows the flow diagram of tandem proportional integral differential PID control.As shown in Figure 1, first according to highly referring to
Order and elevation information calculate desired vertical speed value by PID control rule, further according to vertical speed information, are restrained by PID control
Calculate desired throttle commands.
Inventor thinks that tandem PID control parameter process has the drawback that on the one hand, multi-rotor aerocraft exists
It in-flight inevitably will receive external interference, the interference that height is subject to shows as perturbed force more, adopted in the prior art
Cas PID control method mainly inhibits interference using the integral action of error, but the part generation effect when
Between it is longer and have certain hysteresis quality, it is preferable for slowly varying external interference inhibitory effect, but for burst and quickly
Then inhibitory effect is poor for the external interference of variation；On the other hand, the restricted application of pid control parameter, usually in equilibrium-like
Parameter under state tends not to meet performance requirement when aircraft high maneuver flight.
To solve the above problems, present disclose provides a kind of flying vehicles control methods, the disclosure one is introduced below with reference to Fig. 2
The flying vehicles control method of a embodiment.
Fig. 2 shows the flow diagrams of the flying vehicles control method of an embodiment of the present disclosure.As shown in Fig. 2, this reality
Applying the flying vehicles control method in example includes step S202~step S206.
In step S202, using the present level of aircraft desired present level and aircraft, desired fly is determined
Row device vertical speed.
For example, can by the measurement data of multiple sensors such as the GPS, barometer, laser radar of multi-rotor aerocraft into
Row fusion obtains the current elevation information of aircraft, is denoted as H.Pass through given aerial mission information, available aircraft again
Current desired altitude instruction, is denoted as Hc.So, the present level of the desired present level of aircraft and aircraft is subtracted each other,
The height error of aircraft is obtained, e is denoted asH=Hc-H.Then the PID control method used carries out the height error of aircraft
PID control processing, utilizes formula (1)
Determine desired aircraft vertical speed, wherein VcIndicate desired aircraft vertical speed, eHIndicate aircraft
Height error, KP、KI、KDRespectively indicate the proportional control factor of proportional plus integral plus derivative controller, integral control coefficient and micro-
Divide control coefrficient.
In step S204, the vertical speed of current flight device, the desired flight of a preceding flying vehicles control process are utilized
Device Throttle Opening Control amount determines the estimated value that aircraft vertical speed is always disturbed.
For example, the extended state observer ESO as shown in formula (2) can be constructed, for estimating multi-rotor aerocraft height
Spend the interference volume being subject to.Vertical speed, a preceding flying vehicles control process using extended state observer to current flight device
Desired aircraft Throttle Opening Control amount is handled, and is utilized formula (2)
Determine the estimated value that aircraft vertical speed is always disturbed, wherein z1Indicate current flight device vertical speed
Estimated value, z2Indicate the estimated value always disturbed that aircraft vertical speed is subject to；The vertical speed of V expression current flight device；β1、
β2Indicate the estimation performance parameter of extended state observer, β1Such as it can be with value 15, β2Such as it can be with value 60；B indicates flight
The estimated value of device Throttle Opening Control efficiency, can use and solve to the Dynamic Modeling of multi-rotor aerocraft, can also pass through
Test flight is estimated that control efficiency refers to the rate of change generated when the effect of unit control amount to controlled variable；u1Before expression
The desired aircraft Throttle Opening Control amount of flight device control process；E, α, δ are the design parameter of fal function, and α can for example take
Value 0.5, δ for example can be nonlinear function with value 0.01, fal, and concrete form is formula (3).
In step S206, the estimation that is always disturbed using desired aircraft vertical speed, aircraft vertical speed
Value, the vertical speed of current flight device, determine desired aircraft Throttle Opening Control amount.
For example, can use desired aircraft vertical speed, the estimated value that aircraft vertical speed is always disturbed, when
The vertical speed of preceding aircraft carries out Active Disturbance Rejection Control processing, utilizes formula (4)
Determine desired aircraft Throttle Opening Control amount, wherein VcIndicate desired aircraft vertical speed instruction, V is indicated
The vertical speed of current flight device, z2Indicate the estimated value always disturbed that aircraft vertical speed is subject to, B indicates aircraft throttle
The estimated value of control efficiency, KP、KDRespectively indicate proportional control factor and the differential control system of proportional plus integral plus derivative controller
Number.
In step S208, using desired aircraft Throttle Opening Control amount, the motor control amount of aircraft is determined.
For example, PID controller calculating aircraft rolling control amount Up can be used in roll channel, in pitch channel
Using PID controller calculating aircraft pitch control amount Uq, using the yaw control of PID controller calculating aircraft in jaw channel
Amount Ur processed.Then to aircraft rolling control amount Up, aircraft pitch control amount Uq, vehicle yaw control amount Ur and expectation
Aircraft Throttle Opening Control amount Ut carry out control allocation processing, each motor control amount of aircraft is determined using formula (5):
[δ1,δ2,…,δn]T=G (Up, Uq, Ur, Ut) (5)
Wherein, G () indicates control assigning process.
Brief description controls assigning process.Assuming that multi-rotor aerocraft has n executing agency, each executing agency is to rolling
Turn, pitching, yaw, four control channels of throttle control efficiency be gφ,gθ,gψ,gt.So all executing agencies are to this four
The control efficiency matrix of control channel is formula (6):
If the practical control amount of each executing agency is δ=[δ1,δ2,…,δn], then at this moment to rolling, pitching, yaw,
The desired control amount U=[Up, Uq, Ur, Ut] that four channels of throttle generateTIt can be expressed as formula (7):
U=H δ (7)
If matrix H is known and there are generalized inverse matrix, then can use formula (8) directly seeks each executing agency
Practical control amount δ:
δ=H-1·U (8)
Wherein H-1For the generalized inverse matrix of matrix H.
Above mentioned embodiment provide a kind of anti-interference height control methods of multi-rotor aerocraft.Aircraft flies in high maneuver
When its aerodynamic characteristic can change, these variable quantities can be considered as interference volume, above-mentioned reality relative to the original state of aircraft
Example is applied by the calculating to interference volume, can the external interference amount that is subject to of real-time estimation aircraft altitude to give suitable benefit
It repays, controller of aircraft is not only improved for the inhibition of burst and fast-changing external interference by the calculating to interference volume
Effect also reduces the demand to controller of aircraft performance, so that there is aircraft better anti-interference ability and dynamic to control
Performance processed.Fly in addition, a set of control parameter of the control method of above-described embodiment can be suitable for all of multi-rotor aerocraft
Row state and control performance is almost the same, it is clear in structure, be easily achieved.
Appearance below with reference to Fig. 3 and Fig. 4 introduction using the control method of the disclosure on the quadrotor of 650 wheelbases
State control response curve.
Fig. 3 shows aircraft in one section of conventional non-stop flight to high hold aircraft pursuit course.As shown in figure 3, flying
The actual height of row device fluctuates near Desired Height, and amplitude of variation is no more than 0.5m.Fig. 4 shows aircraft in a Duan Fei
Flying quality curve when external interference is highly met in row.As shown in figure 4, in 51s or so aircraft by external disturbing force
Effect, the disclosure control method AF panel effect under, suitable Throttle Opening Control can be provided within the 0.5s time
Amount, so that aircraft keeps highly stable, height transient deviation is no more than 0.5m, and the offsets in height of existing cas PID control
Amount is in 1m or so.
It can be seen that the flying vehicles control method of the disclosure has better height control effect.
Fig. 5 shows the structural schematic diagram of the flying vehicles control device of an embodiment of the present disclosure.As shown in figure 5, the reality
The flying vehicles control device 50 for applying example includes:
Vertical speed determining module 502 is configured as the current height using the desired present level of aircraft and aircraft
Degree, determines desired aircraft vertical speed；
Estimated value determining module 504 is disturbed, the vertical speed using current flight device, a preceding aircraft control are configured as
The desired aircraft Throttle Opening Control amount of process processed, determines the estimated value that aircraft vertical speed is always disturbed；
Throttle Opening Control amount determining module 506 is configured as utilizing desired aircraft vertical speed, aircraft vertical speed
The vertical speed of the estimated value, current flight device that are always disturbed determines desired aircraft Throttle Opening Control amount；
Motor control amount determining module 508 is configured as determining aircraft using desired aircraft Throttle Opening Control amount
Motor control amount.
In some embodiments, disturbance estimated value determining module 504 is configured as: using extended state observer to current
The vertical speed of aircraft, the preceding desired aircraft Throttle Opening Control amount of a flying vehicles control process are handled, and are flown
The estimated value that device vertical speed is always disturbed.
In some embodiments, disturbance estimated value determining module 504 is configured as: determining that aircraft hangs down using formula (1)
The estimated value that straight speed is always disturbed, wherein z1Indicate the estimated value of current flight device vertical speed, z2Indicate that aircraft hangs down
The estimated value always disturbed that straight speed is subject to, V indicate the vertical speed of current flight device, β1、β2Indicate extended state observer
Estimate performance parameter, B indicates the estimated value of aircraft Throttle Opening Control efficiency, u1Indicate that a preceding flying vehicles control process is desired
Aircraft Throttle Opening Control amount, e, α, δ are the design parameter of fal function.
In some embodiments, vertical speed determining module 502 is configured as: by the desired present level of aircraft and being flown
The present level of row device subtracts each other, and obtains the height error of aircraft；Proportional integral differential control is carried out to the height error of aircraft
System processing, obtains desired aircraft vertical speed.
In some embodiments, vertical speed determining module 502 is configured as: determining desired flight using formula (2)
Device vertical speed, wherein VcIndicate desired aircraft vertical speed, eHIndicate the height error of aircraft, KP、KI、KDRespectively
Indicate proportional control factor, integral control coefficient and the derivative control coefficient of proportional plus integral plus derivative controller.
In some embodiments, Throttle Opening Control amount determining module 506 is configured as: utilizing desired aircraft vertical speed
It spends, the progress Active Disturbance Rejection Control processing of the estimated value that aircraft vertical speed is always disturbed, the vertical speed of current flight device, obtains
To desired aircraft Throttle Opening Control amount.
In some embodiments, Throttle Opening Control amount determining module 506 is configured as: determining desired fly using formula (4)
Row device Throttle Opening Control amount, wherein VcIndicating desired aircraft vertical speed instruction, V indicates the vertical speed of current flight device,
z2Indicate the estimated value always disturbed that aircraft vertical speed is subject to, B indicates the estimated value of aircraft Throttle Opening Control efficiency, KP、KD
Respectively indicate the proportional control factor and derivative control coefficient of proportional plus integral plus derivative controller.
In some embodiments, motor control amount determining module 508 is configured as: PID control is used in roll channel
Device calculating aircraft rolling control amount uses PID controller calculating aircraft pitch control amount in pitch channel, logical in yaw
Control amount is yawed using PID controller calculating aircraft in road；To aircraft rolling control amount, aircraft pitch control amount, fly
Row device yaw control amount and desired aircraft Throttle Opening Control amount carry out control allocation processing, determine the motor control of aircraft
Amount.
Above mentioned embodiment provide a kind of anti-interference height controllers of multi-rotor aerocraft.Aircraft flies in high maneuver
When its aerodynamic characteristic can change, these variable quantities can be considered as interference volume, above-mentioned reality relative to the original state of aircraft
Example is applied by the calculating to interference volume, can the external interference amount that is subject to of real-time estimation aircraft altitude to give suitable benefit
It repays, controller of aircraft is not only improved for the inhibition of burst and fast-changing external interference by the calculating to interference volume
Effect also reduces the demand to controller of aircraft performance, so that there is aircraft better anti-interference ability and dynamic to control
Performance processed.Fly in addition, a set of control parameter of the control device of above-described embodiment can be suitable for all of multi-rotor aerocraft
Row state and control performance is almost the same, it is clear in structure, be easily achieved.
Fig. 6 shows the structural schematic diagram of the flying vehicles control device of the disclosure another embodiment.As shown in fig. 6, should
The flying vehicles control device 60 of embodiment includes: memory 610 and the processor 620 for being coupled to the memory 610, processor
620 are configured as executing the flying vehicles control side in any one aforementioned embodiment based on the instruction being stored in memory 610
Method.
Wherein, memory 610 is such as may include system storage, fixed non-volatile memory medium.System storage
Device is for example stored with operating system, application program, Boot loader (Boot Loader) and other programs etc..
A kind of flying vehicles control device 60 can also include input/output interface 630, network interface 640, memory interface 650
Deng.It can for example be connected by bus 660 between these interfaces 630,640,650 and memory 610 and processor 620.Its
In, the input-output equipment such as input/output interface 630 is display, mouse, keyboard, touch screen provide connecting interface.Network connects
Mouth 640 provides connecting interface for various networked devices.The external storages such as memory interface 640 is SD card, USB flash disk provide connection and connect
Mouthful.
The disclosure further includes a kind of computer readable storage medium, is stored thereon with computer instruction, and the instruction is processed
Device realizes the flying vehicles control method in any one aforementioned embodiment when executing.
It should be understood by those skilled in the art that, embodiment of the disclosure can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the disclosure
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the disclosure, which can be used in one or more,
The calculating implemented in non-transient storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) can be used
The form of machine program product.
The disclosure is referring to method, the process of equipment (system) and computer program product according to the embodiment of the present disclosure
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
The foregoing is merely the preferred embodiments of the disclosure, not to limit the disclosure, all spirit in the disclosure and
Within principle, any modification, equivalent replacement, improvement and so on be should be included within the protection scope of the disclosure.
Claims (18)
1. a kind of flying vehicles control method, comprising:
Using the present level of aircraft desired present level and aircraft, desired aircraft vertical speed is determined；
Using the vertical speed of current flight device, the preceding desired aircraft Throttle Opening Control amount of a flying vehicles control process, determine
The estimated value that aircraft vertical speed is always disturbed；
The estimated value that is always disturbed using desired aircraft vertical speed, aircraft vertical speed, current flight device are hung down
Straight speed determines desired aircraft Throttle Opening Control amount；
Using desired aircraft Throttle Opening Control amount, the motor control amount of aircraft is determined.
2. flying vehicles control method as described in claim 1, wherein the vertical speed using current flight device, previous
The secondary desired aircraft Throttle Opening Control amount of flying vehicles control process, determines the estimated value packet that aircraft vertical speed is always disturbed
It includes:
Vertical speed, the desired aircraft of a preceding flying vehicles control process using extended state observer to current flight device
Throttle Opening Control amount is handled, and the estimated value that aircraft vertical speed is always disturbed is obtained.
3. flying vehicles control method as claimed in claim 2, wherein described to utilize extended state observer to current flight device
Vertical speed, the preceding desired aircraft Throttle Opening Control amount of a flying vehicles control process handled, obtain aircraft vertical
The estimated value that speed is always disturbed includes: to utilize formula
Determine the estimated value that aircraft vertical speed is always disturbed, wherein z1Indicate the estimation of current flight device vertical speed
Value, z2Indicate the estimated value always disturbed that aircraft vertical speed is subject to, V indicates the vertical speed of current flight device, β1、β2Table
Show the estimation performance parameter of extended state observer, B indicates the estimated value of aircraft Throttle Opening Control efficiency, u1It is primary before indicating to fly
The desired aircraft Throttle Opening Control amount of row device control process, e, α, δ are the design parameter of fal function.
4. flying vehicles control method as described in claim 1, wherein described to utilize the desired present level of aircraft and flight
The present level of device determines that desired aircraft vertical speed includes:
The present level of the desired present level of aircraft and aircraft is subtracted each other, the height error of aircraft is obtained；
PID control parameter processing is carried out to the height error of aircraft, obtains desired aircraft vertical speed.
5. flying vehicles control method as claimed in claim 4, wherein the height error to aircraft carries out proportional integration
Differential control processing, obtaining desired aircraft vertical speed includes: to utilize formula
Determine desired aircraft vertical speed, wherein VcIndicate desired aircraft vertical speed, eHIndicate the height of aircraft
Spend error, KP、KI、KDRespectively indicate the proportional control factor, integral control coefficient and differential control of proportional plus integral plus derivative controller
Coefficient processed.
6. flying vehicles control method as described in claim 1, wherein described to utilize desired aircraft vertical speed, flight
The vertical speed of estimated value, current flight device that device vertical speed is always disturbed, determines desired aircraft Throttle Opening Control amount
Include:
The estimated value that is always disturbed using desired aircraft vertical speed, aircraft vertical speed, current flight device are hung down
Straight speed carries out Active Disturbance Rejection Control processing, obtains desired aircraft Throttle Opening Control amount.
7. flying vehicles control method as claimed in claim 6, wherein described to utilize desired aircraft vertical speed, flight
Estimated value that device vertical speed is always disturbed, the vertical speed of current flight device carry out Active Disturbance Rejection Control processing, it is expected that
Aircraft Throttle Opening Control amount include: to utilize formula
Determine desired aircraft Throttle Opening Control amount, wherein VcIndicate desired aircraft vertical speed instruction, V indicates current and flies
The vertical speed of row device, z2Indicate the estimated value always disturbed that aircraft vertical speed is subject to, B indicates aircraft Throttle Opening Control effect
The estimated value of rate, KP、KDRespectively indicate the proportional control factor and derivative control coefficient of proportional plus integral plus derivative controller.
8. flying vehicles control method as described in claim 1, wherein it is described to utilize desired aircraft Throttle Opening Control amount, really
The motor control amount for determining aircraft includes:
PID controller calculating aircraft rolling control amount is used in roll channel, and PID controller meter is used in pitch channel
Aircraft pitch control amount is calculated, control amount is yawed using PID controller calculating aircraft in jaw channel；
To aircraft rolling control amount, aircraft pitch control amount, vehicle yaw control amount and desired aircraft throttle
Control amount carries out control allocation processing, determines the motor control amount of aircraft.
9. a kind of flying vehicles control device, comprising:
Vertical speed determining module is configured as the present level using aircraft desired present level and aircraft, determines
Desired aircraft vertical speed；
Estimated value determining module is disturbed, vertical speed, a preceding flying vehicles control process using current flight device are configured as
Desired aircraft Throttle Opening Control amount determines the estimated value that aircraft vertical speed is always disturbed；
Throttle Opening Control amount determining module is configured as using desired aircraft vertical speed, aircraft vertical speed by total
Estimated value, the vertical speed of current flight device of disturbance, determine desired aircraft Throttle Opening Control amount；
Motor control amount determining module is configured as determining the motor control of aircraft using desired aircraft Throttle Opening Control amount
Amount processed.
10. flying vehicles control device as claimed in claim 9, wherein the disturbance estimated value determining module is configured as:
Vertical speed, the desired aircraft of a preceding flying vehicles control process using extended state observer to current flight device
Throttle Opening Control amount is handled, and the estimated value that aircraft vertical speed is always disturbed is obtained.
11. flying vehicles control device as claimed in claim 10, wherein the disturbance estimated value determining module is configured as:
Utilize formula
Determine the estimated value that aircraft vertical speed is always disturbed, wherein Z1Indicate the estimation of current flight device vertical speed
Value, Z2Indicate the estimated value always disturbed that aircraft vertical speed is subject to, V indicates the vertical speed of current flight device, β1、β2Table
Show the estimation performance parameter of extended state observer, B indicates the estimated value of aircraft Throttle Opening Control efficiency, u1It is primary before indicating to fly
The desired aircraft Throttle Opening Control amount of row device control process, e, α, δ are the design parameter of fal function.
12. flying vehicles control device as claimed in claim 9, wherein the vertical speed determining module is configured as:
The present level of the desired present level of aircraft and aircraft is subtracted each other, the height error of aircraft is obtained；
PID control parameter processing is carried out to the height error of aircraft, obtains desired aircraft vertical speed.
13. flying vehicles control device as claimed in claim 12, wherein the vertical speed determining module is configured as: benefit
Use formula
Determine desired aircraft vertical speed, wherein VcIndicate desired aircraft vertical speed, eHIndicate the height of aircraft
Spend error, KP、KI、KDRespectively indicate the proportional control factor, integral control coefficient and differential control of proportional plus integral plus derivative controller
Coefficient processed.
14. flying vehicles control device as claimed in claim 9, wherein the Throttle Opening Control amount determining module is configured as:
The estimated value that is always disturbed using desired aircraft vertical speed, aircraft vertical speed, current flight device are hung down
Straight speed carries out Active Disturbance Rejection Control processing, obtains desired aircraft Throttle Opening Control amount.
15. flying vehicles control device as claimed in claim 14, wherein the Throttle Opening Control amount determining module is configured as:
Utilize formula
Determine desired aircraft Throttle Opening Control amount, wherein VcIndicate desired aircraft vertical speed instruction, V indicates current and flies
The vertical speed of row device, z2Indicate the estimated value always disturbed that aircraft vertical speed is subject to, B indicates aircraft Throttle Opening Control effect
The estimated value of rate, KP、KDRespectively indicate the proportional control factor and derivative control coefficient of proportional plus integral plus derivative controller.
16. flying vehicles control device as claimed in claim 9, wherein the motor control amount determining module is configured as:
PID controller calculating aircraft rolling control amount is used in roll channel, and PID controller meter is used in pitch channel
Aircraft pitch control amount is calculated, control amount is yawed using PID controller calculating aircraft in jaw channel；
To aircraft rolling control amount, aircraft pitch control amount, vehicle yaw control amount and desired aircraft throttle
Control amount carries out control allocation processing, determines the motor control amount of aircraft.
17. a kind of flying vehicles control device, wherein include:
Memory；And
It is coupled to the processor of the memory, the processor is configured to the instruction based on storage in the memory,
Execute such as flying vehicles control method described in any item of the claim 1 to 8.
18. a kind of computer readable storage medium, wherein the computer-readable recording medium storage has computer instruction, institute
It states and realizes such as flying vehicles control method described in any item of the claim 1 to 8 when instruction is executed by processor.
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| CN112124631A (en) * | 2020-09-11 | 2020-12-25 | 中国运载火箭技术研究院 | Adaptive stepping control method, control device and storage medium |
| CN113232783A (en) * | 2020-12-25 | 2021-08-10 | 北京航空航天大学合肥创新研究院 | Unmanned ship speed control method and storage medium |
| CN112987559A (en) * | 2021-04-06 | 2021-06-18 | 广东英诺威盛科技有限公司 | Method and device for controlling longitudinal channel of fixed-wing aircraft |
| CN116627156A (en) * | 2023-07-24 | 2023-08-22 | 南京信息工程大学 | Four-rotor unmanned aerial vehicle attitude disturbance rejection control method |
| CN116627156B (en) * | 2023-07-24 | 2023-12-01 | 南京信息工程大学 | Four-rotor unmanned aerial vehicle attitude disturbance rejection control method |
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