CN110737279A - Longitudinal swing amplitude control method for unmanned helicopter air drop hanger - Google Patents
Longitudinal swing amplitude control method for unmanned helicopter air drop hanger Download PDFInfo
- Publication number
- CN110737279A CN110737279A CN201911028975.4A CN201911028975A CN110737279A CN 110737279 A CN110737279 A CN 110737279A CN 201911028975 A CN201911028975 A CN 201911028975A CN 110737279 A CN110737279 A CN 110737279A
- Authority
- CN
- China
- Prior art keywords
- unmanned helicopter
- mass
- height
- air
- drop
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 39
- 230000003044 adaptive effect Effects 0.000 claims description 15
- 239000000725 suspension Substances 0.000 claims description 15
- 239000011159 matrix material Substances 0.000 claims description 12
- 230000001133 acceleration Effects 0.000 claims description 9
- 230000035772 mutation Effects 0.000 claims description 8
- 230000008859 change Effects 0.000 claims description 5
- 238000009795 derivation Methods 0.000 claims description 4
- 230000005484 gravity Effects 0.000 claims description 3
- 238000004088 simulation Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000011160 research Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000010355 oscillation Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
Images
Classifications
-
- 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
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Pure & Applied Mathematics (AREA)
- Mathematical Optimization (AREA)
- Mathematical Physics (AREA)
- 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)
Abstract
The invention discloses a method for controlling the longitudinal swing amplitude of an unmanned helicopter aerial drop hanger, which comprises the self-adaptive estimation of unknown parameters before and after the aerial drop and a control method for the swing amplitude of the unmanned helicopter after the aerial drop hanger based on a BLF (binary noise filter) method.
Description
Technical Field
The invention belongs to the technical field of automatic control of unmanned planes, and particularly relates to a longitudinal swing amplitude control method for an air-drop hanger of unmanned helicopters.
Background
The helicopter is a research hotspot directly due to the capability of taking off and landing vertically and carrying heavy goods, and the helicopter hanging system attracts people's attention due to the successful application in the Vietnam war since the 60 th century.
When the helicopter carries out an air-drop hanging task, particularly, when the air-drop is used for hanging a load with larger mass relative to the helicopter, the helicopter inevitably swings in the height direction due to the sudden change of the mass. However, when the helicopter performs the airdrop task at low altitude, especially when the airdrop task is performed under a relatively complex terrain condition such as a mountain or a forest, the safety of the helicopter is seriously affected by the excessive longitudinal swing amplitude of the helicopter after the airdrop. In addition, when the helicopter hanging system executes the tasks of taking off, landing and the like, the problem of sudden change of mass also exists.
The traditional control method can only stabilize the helicopter to heights as soon as possible after the air drop, but the longitudinal swing is difficult to avoid in the process of controlling the stability of the helicopter, and the swing amplitude is difficult to accurately and quantitatively control, so that the design of a proper control strategy and the quantitative control of the longitudinal swing amplitude when the mass mutation problem exists in a helicopter hanging system are very important problems.
At present, researches on helicopter height setting control at home and abroad are few, but only the height setting control of a helicopter body is researched, and the researches are few on the model of helicopter air-drop hanging, particularly on the problem of quality mutation existing in the air-drop hanging.
Disclosure of Invention
The invention aims to solve the problem of accurate control of the swing amplitude of the helicopter in the height direction after air drop, the traditional control method only can stabilize the helicopter to heights as soon as possible after air drop, however, longitudinal swing in the process of controlling the stabilization of the helicopter is difficult to avoid, and accurate and quantitative control of the swing amplitude in the process of stabilizing the helicopter is difficult to realize.
The invention provides a longitudinal swing amplitude control method of unmanned helicopter aerial drop hangers, which quantitatively controls the swing amplitude by adopting a Barrier Lyapunov Function and provides guarantee for the unmanned helicopter to safely execute an aerial drop task, and the specific technical scheme of the invention is as follows:
A longitudinal swing amplitude control method for an unmanned helicopter aerial drop hanger is characterized by comprising the following steps:
s1, establishing a 6-degree-of-freedom nonlinear system model of the unmanned helicopter system, and further , considering the unmanned helicopter air-drop hanging system with the quality mutation problem to obtain a height subsystem model of the unmanned helicopter air-drop hanging system;
a6-degree-of-freedom unmanned helicopter system model established by a Newton-Euler equation:
wherein,is the position coordinate of the mass center of the unmanned helicopter in the terrestrial coordinate system,is the derivative of the coordinates of the position of the center of mass of the unmanned helicopter,the speed of the mass center of the unmanned helicopter in the terrestrial coordinate system,is the derivative of the velocity of the center of mass of the unmanned helicopter; m is unmanned straightThe mass of the elevator;g is the acceleration of gravity;for the attitude of the unmanned helicopter in the terrestrial coordinate system,the pitch angle is the attitude of the unmanned helicopter, theta is the roll angle of the attitude of the unmanned helicopter, and psi is the yaw angle of the attitude of the unmanned helicopter; rt(gamma) is a rotation matrix transformed from a body coordinate system to a ground coordinate system, is matrixes of 3 multiplied by 3 about the posture gamma of the unmanned helicopter,is RtThe derivative of (gamma) is determined,a rotation matrix transformed from a body coordinate system to a ground coordinate system;is the angular velocity in the coordinate system of the body,is the derivative of ω, representing angular acceleration; s (-) is a skew-symmetric matrix,j is a rotational inertia matrix, IxxIs the moment of inertia about the x-axis in the coordinate system of the body, IyyIs the moment of inertia about the y-axis in the coordinate system of the body, IzzIs the moment of inertia about the z-axis in the coordinate system of the body, IxzIs the product of inertia about the x-axis and z-axis in the body coordinate system, Q is the control moment,
wherein, PzIs the height of the center of mass of the unmanned helicopter,is the derivative of the height of the center of mass, V, of the unmanned helicopterzIs the longitudinal speed of the unmanned helicopter,the derivative of the longitudinal speed of the unmanned helicopter represents the acceleration in the height direction; m isiThe mass of the unmanned helicopter hanging system is the mass of the unmanned helicopter hanging system, sudden change can occur before and after air drop hanging, and i is 1 and 2, wherein i is 1 and represents the mass of the unmanned helicopter hanging system before air drop, and i is 2 and represents the mass of the unmanned helicopter hanging system after air drop; t ismThe lift force generated by the main rotor of the unmanned helicopter;
s2: designing a self-adaptive height control algorithm of the hanging system of the unmanned helicopter, designing a self-adaptive law, estimating the hanging quality of the unmanned helicopter unknown before and after air drop, and controlling the height tracking of the unmanned helicopter; designing a height swing amplitude control method after the unmanned helicopter is air-dropped and hung based on a BarierLyapunov Function method, introducing parameters of an upper bound of the swing amplitude of the unmanned helicopter, realizing the pre-definition of the upper bound of the swing amplitude, and integrating the upper bound of the swing amplitude into an adaptive control law;
the unmanned helicopter hanging system is designed to carry out air drop in an air hovering scene, only the longitudinal characteristic of the unmanned helicopter hanging system is considered, and the pitch angle and the roll angle of the unmanned helicopter are both close to 0, so cos phi cos theta is approximately equal to 1;
the self-adaptive control law of the unmanned helicopter is designed by adopting a self-adaptive backstepping method:
s21: height errorAnd velocity error in the vertical directionComprises the following steps:wherein, VzdRepresenting virtual control signals, zrFor a set height reference signal the height of the sensor,
to pairAnd (3) obtaining a height tracking error system by derivation: for a derivative of the set altitude reference signal, representing the desired altitude direction velocity,
designing virtual control quantitiesk1Is positive constants, and the virtual control is brought into the height error system to obtain
S22: computingDerivative of (2)Obtaining a vertical direction tracking error dynamic system equation:
defining two estimation errors as Mass m of suspension system of unmanned helicopteriRespectively estimating the mass m of the suspension system of the unmanned helicopter before air drop by an adaptive updating law1And the mass m of the suspension system of the unmanned helicopter after air drop2,Is an estimation error, and the airdrop time is recorded as t1>0,And 0 < b0≤bi≤bmax1,2, wherein b isiThe values of b before and after the air drop are shown, i-1 represents the value of b before the air drop, i-2 represents the value of b after the air drop, and b0Is b isiLower boundary of (b)maxIs b isiThe control law is as follows:
wherein, the parameter k is designed based on the BLF methodzIs an upper bound limiting the amplitude of the height swing, is positive constants, k2For the designed control coefficient, positive constants,for the virtual control signal VzdThe adaptive law of the parameters is:wherein r, l0Is a constant that is positive in number,for mass m of suspension system of unmanned helicopteriThe update law of the estimate of (2).
The invention has the beneficial effects that:
1. the problem of accurate control of the swing amplitude in the height direction after the air-drop of the helicopter is solved, the safety of the air-drop operation of the unmanned helicopter is improved, and the possibility of air-drop of the unmanned helicopter in low altitude and complex environments is provided.
2. The method provides a feasible control method solution for the application scene of the control system with parameter mutation, such as the autonomous take-off and landing process of helicopters with hanging loads, quadrotors and the like with system quality mutation, and ensures the control precision.
Drawings
In order to illustrate embodiments of the present invention or technical solutions in the prior art more clearly, the drawings which are needed in the embodiments will be briefly described below, so that the features and advantages of the present invention can be understood more clearly by referring to the drawings, which are schematic and should not be construed as limiting the present invention in any way, and for a person skilled in the art, other drawings can be obtained on the basis of these drawings without any inventive effort. Wherein:
FIG. 1 is a block flow diagram of a method for controlling the longitudinal oscillation amplitude of an -type unmanned helicopter aerial drop hanger according to the present invention;
FIG. 2 is a schematic aerial delivery view;
FIG. 3(a) is a control input for the airborne suspension of the helicopter of the present invention;
FIG. 3(b) is a control input for a PD control method using the same control parameters as the embodiment of the invention;
FIG. 4(a) is a graph showing the effect of height tracking of an aerial delivery hanger of a helicopter of the present invention;
FIG. 4(b) is a graph showing the effect of height tracking in a PD control method using the same control parameters as in the embodiment of the present invention;
fig. 5 is an estimation of an unknown parameter (quality) of a handover.
Detailed Description
In order that the above objects, features and advantages of the present invention may be more clearly understood, a detailed description of the invention is provided below in in conjunction with the accompanying drawings and the detailed description.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
The technical scheme of the invention is that firstly, a 6-degree-of-freedom nonlinear system model of an unmanned helicopter system is established, steps are carried out to consider the unmanned helicopter air-drop hanging system with the quality mutation problem to obtain a height subsystem model of the unmanned helicopter air-drop hanging system, secondly, an adaptive height control algorithm of the unmanned helicopter hanging system is designed, an adaptive law is designed to realize estimation of unknown helicopter hanging quality before and after air-drop and control of height tracking of the unmanned helicopter, a height swing amplitude control method after the unmanned helicopter air-drop hanging is designed based on a BarierLyapunov Function (BLF) method, parameters of an upper bound of swing amplitude of the unmanned helicopter are introduced, the upper bound of the swing amplitude is predefined, and the predefined upper bound of the swing amplitude is integrated into the adaptive law, and particularly, the longitudinal swing amplitude control method of the unmanned helicopter air-drop hanging is characterized by comprising the following steps:
s1, establishing a 6-degree-of-freedom nonlinear system model of the unmanned helicopter system, and further , considering the unmanned helicopter air-drop hanging system with the quality mutation problem to obtain a height subsystem model of the unmanned helicopter air-drop hanging system;
a6-degree-of-freedom unmanned helicopter system model established by a Newton-Euler equation:
wherein,is the position coordinate of the mass center of the unmanned helicopter in the terrestrial coordinate system,is the derivative of the coordinates of the position of the center of mass of the unmanned helicopter,the speed of the mass center of the unmanned helicopter in the terrestrial coordinate system,is the derivative of the velocity of the center of mass of the unmanned helicopter; m is the mass of the unmanned helicopter;g is the acceleration of gravity;for the attitude of the unmanned helicopter in the terrestrial coordinate system,the pitch angle is the attitude of the unmanned helicopter, theta is the roll angle of the attitude of the unmanned helicopter, and psi is the yaw angle of the attitude of the unmanned helicopter; rt(gamma) is a rotation matrix transformed from a body coordinate system to a ground coordinate system, is matrixes of 3 multiplied by 3 about the posture gamma of the unmanned helicopter,is RtThe derivative of (gamma) is determined,a rotation matrix transformed from a body coordinate system to a ground coordinate system;is the angular velocity in the coordinate system of the body,is the derivative of ω, representing angular acceleration; s (·) is an oblique symmetric matrix, S (ω) J ω ═ ω × J ω;j is a rotational inertia matrix, IxxIs the moment of inertia about the x-axis in the coordinate system of the body, IyyIs the moment of inertia about the y-axis in the coordinate system of the body, IzzIs the moment of inertia about the z-axis in the coordinate system of the body, IxzIs the product of inertia about the x-axis and z-axis in the body coordinate system, Q is the control moment,
wherein, PzIs the height of the center of mass of the unmanned helicopter,is the derivative of the height of the center of mass, V, of the unmanned helicopterzIs the longitudinal speed of the unmanned helicopter,the derivative of the longitudinal speed of the unmanned helicopter represents the acceleration in the height direction; m isiThe mass of the unmanned helicopter hanging system is the mass of the unmanned helicopter hanging system, sudden change can occur before and after air drop hanging, and i is 1 and 2, wherein i is 1 and represents the mass of the unmanned helicopter hanging system before air drop, and i is 2 and represents the mass of the unmanned helicopter hanging system after air drop; t ismThe lift force generated by the main rotor of the unmanned helicopter;
s2: designing a self-adaptive height control algorithm of the unmanned helicopter hanging system, designing a self-adaptive law, estimating unknown helicopter hanging quality before and after air drop, and controlling the height tracking of the unmanned helicopter; designing a height swing amplitude control method after the unmanned helicopter is air-dropped and hung based on a BarierLyapunov Function method, introducing parameters of an upper bound of the swing amplitude of the unmanned helicopter, realizing the pre-definition of the upper bound of the swing amplitude, and integrating the upper bound of the swing amplitude into an adaptive control law;
the method is characterized in that a helicopter hanging system is designed to carry out air drop in an air suspension scene, because the air drop in an unmanned helicopter suspension scene is considered, and only the longitudinal characteristic of the unmanned helicopter hanging system is considered, the pitch angle and the roll angle of the helicopter are both close to 0, so cos phi cos theta is approximately equal to 1;
the self-adaptive control law of the unmanned helicopter is designed by adopting a self-adaptive backstepping method:
s21: height errorAnd velocity error in the vertical directionComprises the following steps:wherein, VzdRepresenting virtual control signals, zrFor a set height reference signal the height of the sensor,
to pairAnd (3) obtaining a height tracking error system by derivation: for a derivative of the set altitude reference signal, representing the desired altitude direction velocity,
designing virtual control quantitiesk1Is positive constants, and the virtual control is brought into the height error system to obtain
S22: computingDerivative of (2)Obtaining a vertical direction tracking error dynamic system equation:
the quality of the unmanned helicopter model is unknown, so that a parameter self-adaptive law needs to be designed to estimate unknown parameters, the quality of the whole system is changed before and after hanging and air-drop, switching systems with the changed unknown parameters are adopted, and in addition, the quality of the system can be considered to be constant values in two stages before and after air-drop.
Defining two estimation errors as Mass m of suspension system of unmanned helicopteriThe self-adaptive updating law respectively estimates the quality of the suspension system of the unmanned helicopter before and after air drop, is an estimation error, and the airdrop time is recorded as t1>0,And 0 < b0≤bi≤bmax1,2, wherein b isiThe values of b before and after the air drop are shown, i-1 represents the value of b before the air drop, i-2 represents the value of b after the air drop, and b0Is b isiLower boundary of (b)maxIs b isiThe control law is as follows:
wherein, the parameter k is designed based on the BLF methodzIs an upper bound limiting the amplitude of the height swing, is positive constants, k2For the designed control coefficient, positive constants,for the virtual control signal VzdThe adaptive law of the parameters is:wherein r, l0Is a constant that is positive in number,for mass m of suspension system of unmanned helicopteriThe update law of the estimate of (2).
The parameters limiting the amplitude of the longitudinal oscillations of the unmanned helicopter, designed on the basis of the Barrier Lyapunov Function method, have been integrated in the above steps into the control law of the design, where the stability of the system is analyzed,
selected Lyapunov functioni is 1,2, wherein L1Is a Lyapunov function before air-drop,Estimated error of mass of suspension system for unmanned helicopter before head-off, L2Is a Lyapunov function after air-drop,For the estimation error of the mass of the hanging system of the unmanned helicopter after the head is empty,
for an arbitrary positive number a, if the initial value s (0) of the state quantity s satisfies | s (0) | < a, thenThis is true for all | s | < a,
to LiThe derivation yields:
wherein, a is min {2k ═ min { (2 k)1,2k2,l0},
in summary, the following conclusions are drawn:
1) all signals in a closed loop system are bounded;
2) if the initial value of the height error is satisfiedThen for arbitrarily small positive constants τ > 0 whenThe output height error of the system will be strictWithin the range;
3) if the dwell time T of the switching signal*Satisfy the requirement ofE (0, a), the steady state tracking error of the system will be satisfiedWhere ε ∈ (0, a).
For the convenience of understanding the above technical aspects of the present invention, the following detailed description will be given of the above technical aspects of the present invention by way of specific examples.
Example 1
And (3) simulating the established unmanned helicopter model and the designed adaptive controller by using MATLAB software. The selected hanging mass of the unmanned helicopter air drop accounts for 10% of the total mass of the helicopter hanging system, and the specific simulation parameters are shown in table 1:
table 1 simulation parameters
In order to compare the control effects, the simulation of the control scheme and the PD control designed by the present invention is performed using the same control coefficients, and the simulation results are shown in fig. 3 to 5. Fig. 3(a), (b) are control input comparisons, fig. 4(a), (b) are height tracking error comparisons, the left side is the control scheme of the present invention, and the right side is the PD control scheme. Fig. 5 is an estimation of unknown parameters for handover. As can be seen from the simulation result graph, the desired bounded error tracking effect can be achieved and all signals in the closed loop system are bounded.
As can be seen from the simulation result, the adaptive control method based on the BLF method can well control the output boundary, the adaptive law can accurately estimate the parameters, and the adaptive controller designed by the invention is effective.
In the present invention, unless otherwise specifically stated or limited, the terms "mounted," "connected," "fixed," and the like shall be understood as , for example, either fixedly connected, detachably connected, or integrally, mechanically connected, electrically connected, directly connected, indirectly connected through an intermediary, communicating between two elements, or interacting between two elements.
In the present invention, unless otherwise expressly stated or limited, "over" or "under" may include directly contacting the second feature and the second feature, or may include contacting the second feature and the second feature not directly but through another feature therebetween, and furthermore, the feature "over", "above" and "above" the second feature includes the feature directly above and obliquely above the second feature, or merely means that the feature is at a higher level than the second feature, the feature "under", under "and" under "the second feature includes the feature directly below and obliquely below the second feature, or merely means that the feature is at a lower level than the second feature.
In the present invention, the terms "," "second," "third," and "fourth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (1)
- The longitudinal swing amplitude control method of the air-drop hanger of the unmanned helicopters is characterized by comprising the following steps:s1, establishing a 6-degree-of-freedom nonlinear system model of the unmanned helicopter system, and further , considering the unmanned helicopter air-drop hanging system with the quality mutation problem to obtain a height subsystem model of the unmanned helicopter air-drop hanging system;a6-degree-of-freedom unmanned helicopter system model established by a Newton-Euler equation:wherein,is the position coordinate of the mass center of the unmanned helicopter in the terrestrial coordinate system,is the derivative of the coordinates of the position of the center of mass of the unmanned helicopter,the speed of the mass center of the unmanned helicopter in the terrestrial coordinate system,is the derivative of the velocity of the center of mass of the unmanned helicopter; m is the mass of the unmanned helicopter;g is the acceleration of gravity;for the attitude of the unmanned helicopter in the terrestrial coordinate system,the pitch angle is the attitude of the unmanned helicopter, theta is the roll angle of the attitude of the unmanned helicopter, and psi is the yaw angle of the attitude of the unmanned helicopter; rt(gamma) is a rotation matrix transformed from a body coordinate system to a ground coordinate system, is matrixes of 3 multiplied by 3 about the posture gamma of the unmanned helicopter,is RtThe derivative of (gamma) is determined,a rotation matrix transformed from a body coordinate system to a ground coordinate system;is the angular velocity in the coordinate system of the body,is the derivative of ω, representing angular acceleration; s (·) is an oblique symmetric matrix, S (ω) J ω ═ ω × J ω;j is a rotational inertia matrix, IxxIs the moment of inertia about the x-axis in the coordinate system of the body, IyyIs the moment of inertia about the y-axis in the coordinate system of the body, IzzIs the moment of inertia about the z-axis in the coordinate system of the body, IxzIs the product of inertia about the x-axis and z-axis in the body coordinate system, Q is the control moment,wherein, PzIs the height of the center of mass of the unmanned helicopter,is the derivative of the height of the center of mass, V, of the unmanned helicopterzIs the longitudinal speed of the unmanned helicopter,the derivative of the longitudinal speed of the unmanned helicopter represents the acceleration in the height direction; m isiThe mass of the unmanned helicopter hanging system is the mass of the unmanned helicopter hanging system, sudden change can occur before and after air drop hanging, and i is 1 and 2, wherein i is 1 and represents the mass of the unmanned helicopter hanging system before air drop, and i is 2 and represents the mass of the unmanned helicopter hanging system after air drop; t ismThe lift force generated by the main rotor of the unmanned helicopter;s2: designing a self-adaptive height control algorithm of the hanging system of the unmanned helicopter, designing a self-adaptive law, estimating the hanging quality of the unmanned helicopter unknown before and after air drop, and controlling the height tracking of the unmanned helicopter; designing a height swing amplitude control method after the unmanned helicopter is air-dropped and hung based on a BarierLyapunov Function method, introducing parameters of an upper bound of the swing amplitude of the unmanned helicopter, realizing the pre-definition of the upper bound of the swing amplitude, and integrating the upper bound of the swing amplitude into an adaptive control law; the unmanned helicopter hanging system is designed to carry out air drop in an air hovering scene, only the longitudinal characteristic of the unmanned helicopter hanging system is considered, and the pitch angle and the roll angle of the unmanned helicopter are both close to 0, so cos phi cos theta is approximately equal to 1;the self-adaptive control law of the unmanned helicopter is designed by adopting a self-adaptive backstepping method:s21: height errorAnd velocity error in the vertical directionComprises the following steps:wherein, VzdRepresenting virtual control signals, zrFor a set height reference signal the height of the sensor,to pairAnd (3) obtaining a height tracking error system by derivation: for a derivative of the set altitude reference signal, representing the desired altitude direction velocity,designing virtual control quantitiesk1Is positive constants, and the virtual control is brought into the height error system to obtainS22: computingDerivative of (2)Obtaining a vertical direction tracking error dynamic system equation:defining two estimation errors as Mass m of suspension system of unmanned helicopteriRespectively estimating the mass m of the suspension system of the unmanned helicopter before air drop by an adaptive updating law1And the mass m of the suspension system of the unmanned helicopter after air drop2,Is an estimation error, and the airdrop time is recorded as t1>0,And 0 < b0≤bi≤bmax1,2, wherein b isiThe values of b before and after the air drop are shown, i-1 represents the value of b before the air drop, i-2 represents the value of b after the air drop, and b0Is b isiLower boundary of (b)maxIs b isiThe control law is as follows:wherein, the parameter k is designed based on the BLF methodzIs an upper bound limiting the amplitude of the height swing, is positive constants, k2For the designed control coefficient, positive constants,for the virtual control signal VzdThe adaptive law of the parameters is:wherein r, l0Is a constant that is positive in number,for mass m of suspension system of unmanned helicopteriThe update law of the estimate of (2).
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201911028975.4A CN110737279B (en) | 2019-10-28 | 2019-10-28 | Longitudinal swing amplitude control method for air-drop hanger of unmanned helicopter |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201911028975.4A CN110737279B (en) | 2019-10-28 | 2019-10-28 | Longitudinal swing amplitude control method for air-drop hanger of unmanned helicopter |
Publications (2)
Publication Number | Publication Date |
---|---|
CN110737279A true CN110737279A (en) | 2020-01-31 |
CN110737279B CN110737279B (en) | 2020-11-17 |
Family
ID=69271670
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201911028975.4A Active CN110737279B (en) | 2019-10-28 | 2019-10-28 | Longitudinal swing amplitude control method for air-drop hanger of unmanned helicopter |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN110737279B (en) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112130469A (en) * | 2020-09-25 | 2020-12-25 | 中国直升机设计研究所 | Hanging subject inverse simulation trajectory description method |
CN112456361A (en) * | 2020-11-25 | 2021-03-09 | 西北工业大学 | Control method for reducing swing amplitude of underwater extension set of hydraulic winch for hoisting sonar |
CN112762893A (en) * | 2021-04-06 | 2021-05-07 | 北京三快在线科技有限公司 | Unmanned aerial vehicle state determination method and device, medium, electronic equipment and unmanned aerial vehicle |
CN115167119A (en) * | 2022-05-13 | 2022-10-11 | 山东科技大学 | Bilateral boundary self-adaptive control method of flexible hanging system of helicopter |
CN118068862A (en) * | 2024-04-15 | 2024-05-24 | 电子科技大学 | Goods air drop design method for superimposed flight attitude |
Citations (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0412209A1 (en) * | 1988-05-18 | 1991-02-13 | Wayne D. Smith | Apparatus for deployment of aerial-drop units |
US7458544B1 (en) * | 2005-12-23 | 2008-12-02 | Airlaunch Llc | Method and apparatus for dropping a launch vehicle from beneath an airplane |
US20120169053A1 (en) * | 2009-07-29 | 2012-07-05 | Michigan Aerospace Corporation | Atmospheric Measurement System |
EP2565120A2 (en) * | 2011-08-31 | 2013-03-06 | The Boeing Company | Steerable container delivery system |
US8538605B1 (en) * | 2012-05-15 | 2013-09-17 | The Boeing Company | Steerable pallet range extension |
CN104504174A (en) * | 2014-11-28 | 2015-04-08 | 南京航空航天大学 | Self-adaptive mesh control method applicable to fluid-solid coupling numerical simulation in paradrop process |
CN105182990A (en) * | 2015-09-30 | 2015-12-23 | 南京航空航天大学 | Robust control method of three-DOF model helicopter with output limits |
CN107831670A (en) * | 2017-12-06 | 2018-03-23 | 浙江工业大学 | It is a kind of based on it is asymmetric when constant obstacle liapunov function the limited backstepping control method of quadrotor output |
CN107831671A (en) * | 2017-12-06 | 2018-03-23 | 浙江工业大学 | A kind of limited backstepping control method of quadrotor output based on asymmetric time-varying obstacle liapunov function |
CN108445753A (en) * | 2018-03-06 | 2018-08-24 | 西南交通大学 | Method for balanced side force and the inhibition lateral propulsive thrust of unmanned plane |
CN108803664A (en) * | 2018-08-01 | 2018-11-13 | 辽宁壮龙无人机科技有限公司 | A kind of autonomous flight throws object unmanned plane and control method |
CN110095979A (en) * | 2018-01-29 | 2019-08-06 | 湖南工业大学 | One kind is based on asymmetric Barrier Lyapunov function bullet train adhesion anti-skid control method |
CN110275432A (en) * | 2019-05-09 | 2019-09-24 | 中国电子科技集团公司电子科学研究院 | Unmanned plane based on intensified learning hangs load control system |
-
2019
- 2019-10-28 CN CN201911028975.4A patent/CN110737279B/en active Active
Patent Citations (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0412209A1 (en) * | 1988-05-18 | 1991-02-13 | Wayne D. Smith | Apparatus for deployment of aerial-drop units |
US7458544B1 (en) * | 2005-12-23 | 2008-12-02 | Airlaunch Llc | Method and apparatus for dropping a launch vehicle from beneath an airplane |
US20120169053A1 (en) * | 2009-07-29 | 2012-07-05 | Michigan Aerospace Corporation | Atmospheric Measurement System |
EP2565120A2 (en) * | 2011-08-31 | 2013-03-06 | The Boeing Company | Steerable container delivery system |
US8538605B1 (en) * | 2012-05-15 | 2013-09-17 | The Boeing Company | Steerable pallet range extension |
CN104504174A (en) * | 2014-11-28 | 2015-04-08 | 南京航空航天大学 | Self-adaptive mesh control method applicable to fluid-solid coupling numerical simulation in paradrop process |
CN105182990A (en) * | 2015-09-30 | 2015-12-23 | 南京航空航天大学 | Robust control method of three-DOF model helicopter with output limits |
CN107831670A (en) * | 2017-12-06 | 2018-03-23 | 浙江工业大学 | It is a kind of based on it is asymmetric when constant obstacle liapunov function the limited backstepping control method of quadrotor output |
CN107831671A (en) * | 2017-12-06 | 2018-03-23 | 浙江工业大学 | A kind of limited backstepping control method of quadrotor output based on asymmetric time-varying obstacle liapunov function |
CN110095979A (en) * | 2018-01-29 | 2019-08-06 | 湖南工业大学 | One kind is based on asymmetric Barrier Lyapunov function bullet train adhesion anti-skid control method |
CN108445753A (en) * | 2018-03-06 | 2018-08-24 | 西南交通大学 | Method for balanced side force and the inhibition lateral propulsive thrust of unmanned plane |
CN108803664A (en) * | 2018-08-01 | 2018-11-13 | 辽宁壮龙无人机科技有限公司 | A kind of autonomous flight throws object unmanned plane and control method |
CN110275432A (en) * | 2019-05-09 | 2019-09-24 | 中国电子科技集团公司电子科学研究院 | Unmanned plane based on intensified learning hangs load control system |
Non-Patent Citations (10)
Title |
---|
BIN XU 等: "Review of modeling and control during transport airdrop process", 《INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS》 * |
HONGBO WANG 等: "Modeling and Control for Airdrop of Transport Aircraft under Wind Disturbance", 《2019 CHINESE CONTROL AND DECISION CONFERENCE (CCDC)》 * |
RI LIU 等: "Projection-Based Adaptive Backstepping Control of a Transport Aircraft for Heavyweight Airdrop", 《INTERNATIONAL JOURNAL OF AEROSPACE ENGINEERING》 * |
YUN LI 等: "Adaptive Tracking Control for Air-breathing Hypersonic Vehicles with Attack Angle Constraints", 《2017 29TH CHINESE CONTROL AND DECISION CONFERENCE (CCDC)》 * |
唐一萌 等: "基于自适应逆的飞机空投纵向控制系统设计", 《计算机测量与控制》 * |
崔振新 等: "直升机重装空投状态下的动态特性", 《航空动力学报》 * |
张雨浓 等: "基于ZG方法的悬挂负载直升机零振荡悬停控制", 《甘肃科学学报》 * |
戴正升: "超低空空投重装货物出舱过程飞行控制技术研究", 《中国优秀硕士学位论文全文数据库工程科技Ⅱ辑》 * |
钱华: "武装直升机空中玫击恶劣环境下空空导弹发射过程研究", 《中国优秀硕士学位论文全文数据库工程科技Ⅱ辑》 * |
高亚奎 等: "投弹对飞机稳定性影响分析与仿真研究", 《全球化制造高级论坛暨21世纪仿真技术研讨会论文集》 * |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112130469A (en) * | 2020-09-25 | 2020-12-25 | 中国直升机设计研究所 | Hanging subject inverse simulation trajectory description method |
CN112130469B (en) * | 2020-09-25 | 2022-09-06 | 中国直升机设计研究所 | Hanging subject inverse simulation trajectory description method |
CN112456361A (en) * | 2020-11-25 | 2021-03-09 | 西北工业大学 | Control method for reducing swing amplitude of underwater extension set of hydraulic winch for hoisting sonar |
CN112762893A (en) * | 2021-04-06 | 2021-05-07 | 北京三快在线科技有限公司 | Unmanned aerial vehicle state determination method and device, medium, electronic equipment and unmanned aerial vehicle |
CN115167119A (en) * | 2022-05-13 | 2022-10-11 | 山东科技大学 | Bilateral boundary self-adaptive control method of flexible hanging system of helicopter |
CN118068862A (en) * | 2024-04-15 | 2024-05-24 | 电子科技大学 | Goods air drop design method for superimposed flight attitude |
Also Published As
Publication number | Publication date |
---|---|
CN110737279B (en) | 2020-11-17 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN110737279B (en) | Longitudinal swing amplitude control method for air-drop hanger of unmanned helicopter | |
CN106707754B (en) | A kind of cargo carrying rotor wing unmanned aerial vehicle modeling and self-adaptation control method based on switching system | |
CN109839822B (en) | Four-rotor unmanned aerial vehicle height control method for improving active disturbance rejection | |
US6189836B1 (en) | Model-following control system using acceleration feedback | |
Oktay et al. | Modeling and control of a helicopter slung-load system | |
Salazar-Cruz et al. | Trajectory tracking for a four rotor mini-aircraft | |
Kui et al. | Sliding mode control for a quadrotor slung load system | |
EP2828719B1 (en) | Attitude regulator | |
CN107765553A (en) | For the nonlinear control method of rotor wing unmanned aerial vehicle hanging transportation system | |
CN106200665A (en) | Carry modeling and the self-adaptation control method of the four-axle aircraft of uncertain load | |
CN111008467A (en) | Online planning method for shimmy-damping track of unmanned aerial vehicle hanging flight transportation system | |
Zhang et al. | Cascaded control for balancing an inverted pendulum on a flying quadrotor | |
CN107844124A (en) | A kind of quadrotor carries the control method of unbalanced load stabilized flight | |
CN112379685B (en) | Rotor unmanned aerial vehicle control system and method based on wind speed and wind direction sensor | |
WO2020088094A1 (en) | Coordinated turn control method for rotary-wing aircraft, and system | |
Kim et al. | System identification and 6-DOF hovering controller design of unmanned model helicopter | |
CN114510066B (en) | Tilt rotor heavy-load logistics unmanned aerial vehicle control system | |
Chekakta et al. | Model-free control applied for position control of quadrotor using ros | |
CN108427426B (en) | Method and system for controlling load oscillation of air crane | |
Cheng et al. | Near-hover dynamics and attitude stabilization of an insect model | |
Erasmus et al. | Linear quadratic gaussian control of a quadrotor with an unknown suspended payload | |
Bisgaard et al. | Swing damping for helicopter slung load systems using delayed feedback | |
Castillo et al. | Real-time stabilization and tracking of a four rotor mini-rotorcraft | |
Yuan et al. | Robust H∞ control for hovering of a quadrotor UAV with slung load | |
CN111190440A (en) | Anti-swing control method for suspended load aerial robot |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant |