CN111880553B - Quad-rotor unmanned aerial vehicle attitude control method considering inertia uncertainty - Google Patents
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Abstract
The invention relates to a quad-rotor unmanned aerial vehicle attitude control method considering inertia uncertainty. Aiming at the influence caused by various factors such as uncertain system inertia, external interference and the like when a quadrotor unmanned aerial vehicle grabs or throws articles, firstly, a quadrotor unmanned aerial vehicle attitude ring model containing external interference is established; secondly, converting an attitude ring model of the quad-rotor unmanned aerial vehicle into an error equation; thirdly, designing a four-rotor unmanned aerial vehicle attitude control law; then, designing a disturbance observer by using an error equation; and finally, compensating the interference estimation value through a feedforward channel, and compounding the interference estimation value with a control law. The invention has the advantages of strong engineering practicability and strong anti-interference capability, and is suitable for high-precision attitude control of the quad-rotor unmanned aerial vehicle.
Description
Technical Field
The invention relates to a quad-rotor unmanned aerial vehicle attitude control method considering inertia uncertainty, which can solve the problem of high-precision control caused by strong inertia uncertainty due to the fact that a quad-rotor unmanned aerial vehicle grabs or throws articles and the like, and belongs to the technical field of unmanned aerial vehicle flight control application.
Background
The quad-rotor unmanned aerial vehicle has the advantages of small size, high maneuverability and the like, can complete complex tasks in a narrow space, and has very wide application in a plurality of aspects such as military, civil and scientific research, such as electric power inspection, forest fire prevention and the like.
High-precision attitude stability control of quad-rotor unmanned aerial vehicles after grabbing or throwing articles still faces a huge challenge. Firstly, the overall quality of the quad-rotor unmanned aerial vehicle is greatly influenced by the article to be grabbed or thrown, the larger the influence of the article quality is, the more effective the control algorithm is, the more need to improve the stable control of the quad-rotor to the front and back postures of the object to be grabbed or thrown is urgently needed; secondly, because there may be complicated changeable external disturbance in the operational environment, produce further influence to this four rotor unmanned aerial vehicle attitude control that just is difficult to stabilize, seriously harm control accuracy and system stability. These uncertainty and the external environment that come from grabbing or jettisoninging object quality can cause serious influence for four rotor unmanned aerial vehicle attitude control, lead to the system out of control, can't accomplish established task, consequently urgent need improve four rotor unmanned aerial vehicle and snatch the strong uncertain adaptability of inertia and the throughput to the interference when article.
At present, experts and scholars at home and abroad propose a plurality of methods aiming at the problem of attitude control of a quad-rotor unmanned aerial vehicle, wherein a classical PID control method utilizes attitude errors to be combined with three-dimensional torque for control, and is widely applied to actual engineering. Although the influence of inertia uncertainty on attitude control is considered, the model is subjected to linearization processing, partial dynamic characteristics are lost, the influence of inertia uncertainty on a state derivative, namely neutral uncertainty, is not considered, and the influence of external interference on the attitude control is not considered. In conclusion, the existing method cannot solve the problems caused by various factors such as uncertain system inertia, external interference and the like when the quad-rotor unmanned aerial vehicle controls the high-precision attitude to grab or throw articles.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the influence caused by various factors such as uncertain system inertia, external interference and the like when the four-rotor unmanned aerial vehicle high-precision attitude control picks or throws an article, the attitude control method of the four-rotor unmanned aerial vehicle considering the uncertainty of the inertia is provided, the problems that the four-rotor unmanned aerial vehicle has insufficient uncertain adaptability to the system inertia and weak interference processing capacity when the article is picked or thrown are solved, the adaptability of system tasks is improved, and the method has the advantages of strong engineering practicability and strong anti-interference capacity.
The invention and the technical solution are as follows: a quad-rotor unmanned aerial vehicle attitude control method considering inertia uncertainty comprises the following implementation steps:
the method comprises the following steps of firstly, establishing a quad-rotor unmanned aerial vehicle attitude ring model containing external interference as follows:
wherein, J 0x Representing the moment of inertia, Δ J, of a quad-rotor drone in the direction of the X axis x Representing the moment of inertia uncertainty, J, in the X-axis direction 0y Representing the moment of inertia, Δ J, of a quad-rotor drone in the Y-axis direction y Representing the moment of inertia uncertainty, J, in the Y-axis direction 0z Representing the moment of inertia, Δ J, of the quad-rotor drone in the Z-axis direction z Representing the uncertainty of the moment of inertia in the direction of the Z axis, p representing the roll rate of the quad-rotor drone,
representing the first derivative of p with respect to time, q representing the pitch rate of a quad-rotor drone,
represents the first derivative of q with respect to time, r represents the yaw rate of a quadrotor drone,
denotes the first derivative of r with respect to time, u 2 Representing the control moment, u, corresponding to the roll rate p 3 Representing control moment, u, corresponding to pitch angle rate q 4 Representing the control moment, d, corresponding to the yaw rate r p Representing disturbing moments due to the external environmentInfluence on p, d q Representing the influence of disturbing moments on q due to the external environment, d r Representing the effect of disturbing moments on r due to the external environment. The attitude ring model of the quad-rotor unmanned aerial vehicle is abbreviated as follows:
wherein the content of the first and second substances,
a matrix of moments of inertia is represented,
a matrix representing the uncertainty of the moment of inertia,
a matrix of the derivatives of the angular velocity is represented,
a matrix of control moments is represented, which,
a matrix of the interference is represented by,
representing symbols defined for ease of computation.
And secondly, converting the attitude ring model of the quad-rotor unmanned aerial vehicle into an error equation as follows:
wherein e is p Error representing roll angular velocity, defined as e p ＝p-p d ，p d A reference signal indicative of the roll angular velocity,
denotes p d First derivative with respect to time, e q Error representing the pitch angle rate, defined as e q ＝q-q d ，q d A reference signal indicative of the roll angular velocity,
denotes q d First derivative with respect to time, e r Error representing yaw rate, defined as e r ＝r-r d ，r d A reference signal indicative of the roll angular velocity,
is represented by r d First derivative with respect to time.
Showing the error e of the roll angular velocity p The first derivative with respect to time is,
showing the error e of the roll angular velocity q The first derivative with respect to time is,
showing the error e of the roll angular velocity r First derivative with respect to time, J x Representing the moment of inertia of the X-axis, including a definite part and an indefinite part, i.e. J x ＝J 0x +ΔJ x ，J y The moment of inertia representing the Y axis, comprising a definite part and an indefinite part, i.e. J y ＝J 0y +ΔJ y ，J z Representing the moment of inertia of the Z-axis, including a definite part and an indeterminate part, i.e. J z ＝J 0z +ΔJ z Y and Δ Y are symbols for convenience of expression, and are respectively defined as Y = J 0y -J 0z And Δ Y = Δ J y -ΔJ z Z and Δ Z are symbols for convenience of expression, respectively defined as Z = J 0z -J 0x And Δ Z = Δ J z -ΔJ x X and Δ X are symbols for convenience of expression, and are respectively defined as X = J 0x -J 0y And Δ X = Δ J x -ΔJ y . The above error equation is abbreviated as:
wherein, the first and the second end of the pipe are connected with each other,
a matrix of the derivative of the error is represented,
indicating symbols defined for ease of calculation,
indicating symbols defined for ease of calculation,
representing symbols defined for ease of computation.
Thirdly, designing the attitude control law of the quad-rotor unmanned aerial vehicle as follows:
wherein, K p Denotes u 2 Corresponding controller gain, K q Represents u 3 Corresponding controller gain, K r Represents u 4 The corresponding controller gain.
Fourthly, designing a disturbance observer by using an error equation:
wherein the content of the first and second substances,
represents a pair interference d 2 Estimate of z 2 As an auxiliary variable, L 2 In order to gain the observer,
denotes z 2 First derivative with respect to time.
And fifthly, compensating the interference estimation value through a feedforward channel, and compounding the interference estimation value with the control law designed in the fourth step:
wherein the content of the first and second substances,
a control matrix is represented that is,
represents a pair interference d 2 Is determined by the estimated value of (c),
representing a complex control law.
Compared with the prior art, the invention has the advantages that:
(1) Aiming at the influence caused by various factors such as uncertain system inertia, external interference and the like when the four-rotor unmanned aerial vehicle high-precision attitude control grips or throws articles, the invention designs the four-rotor unmanned aerial vehicle attitude control method considering the uncertainty of inertia, improves the robustness and the stability of the system, estimates and compensates the external environment interference by using the interference observer, constructs the four-rotor unmanned aerial vehicle high-precision attitude composite control method considering the uncertainty of inertia, improves the problems of insufficient adaptability of the system to the uncertainty of inertia and weak interference processing capacity, has the advantages of strong engineering practicability and strong anti-jamming capability, and ensures the high-precision attitude control of the four-rotor unmanned aerial vehicle when grips or throws articles.
(2) In the existing method, although the influence of inertia uncertainty on attitude control is considered, the model is subjected to linearization treatment, partial dynamic characteristics are lost, the influence of inertia uncertainty on a state derivative, namely neutral uncertainty, is not considered, and the influence of external interference on attitude control is not considered. Under the simultaneous influence of inertia uncertainty and external interference, the existing method is difficult to ensure the original control effect. The invention restrains the inertia uncertainty by designing the robust controller, compensates the external interference by designing the interference observer, and can ensure that the system completes the set task and realize the control target under the simultaneous influence of the inertia uncertainty and the external interference.
Drawings
Fig. 1 is a design flow chart of a high-precision attitude control method of a quad-rotor unmanned aerial vehicle considering inertia uncertainty according to the invention.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and examples.
As shown in fig. 1, the high-precision attitude control method for a quad-rotor unmanned aerial vehicle considering inertia uncertainty according to the invention comprises the following design steps: firstly, establishing a quad-rotor unmanned aerial vehicle attitude ring model containing external interference; secondly, converting an attitude ring model of the quad-rotor unmanned aerial vehicle into an error equation; thirdly, designing a four-rotor unmanned aerial vehicle attitude control law; then, designing a disturbance observer by using an error equation; and finally, compensating the interference estimation value through a feedforward channel, and compounding the interference estimation value with a control law.
The specific implementation steps are as follows:
the method comprises the following steps of firstly, establishing a quad-rotor unmanned aerial vehicle attitude ring model containing external interference as follows:
wherein, J 0x The rotary inertia of the quad-rotor unmanned aerial vehicle in the X-axis direction is represented, and the value is 0.01kgm 2 ，ΔJ x The uncertainty of the moment of inertia in the X-axis direction is represented, and the value is 0.1J 0x ，J 0y The rotary inertia of the quad-rotor unmanned aerial vehicle in the Y-axis direction is represented, and the value is 0.082kgm 2 ，ΔJ y Representing the uncertainty of the rotational inertia in the Y-axis direction, and the value is 0.1J 0y ，J 0z The rotary inertia of the quad-rotor unmanned aerial vehicle in the Z-axis direction is represented, and the value is 0.0148kgm 2 ，ΔJ z The uncertainty of the moment of inertia in the Z-axis direction is represented, and the value is 0.1J 0z P represents the roll angle rate of the quad-rotor unmanned plane, the initial value is 0.001rad/s,
represents the first derivative of p with respect to time, q represents the pitch angle rate of the quad-rotor unmanned aerial vehicle, the initial value is 0.001rad/s,
represents the first derivative of q to time, r represents the yaw rate of the quad-rotor unmanned aerial vehicle, the initial value is 0.001rad/s,
represents r pairs of timeFirst derivative of u 2 Representing the control moment, u, corresponding to the roll rate p 3 Representing control moment, u, corresponding to pitch angle rate q 4 Indicating the control moment, d, corresponding to the yaw rate r p The influence of disturbance torque caused by external environment on p is shown, and the value is 0.01Nm q The influence of disturbance torque caused by external environment on q is shown, and the value is 0.01Nm r Which represents the influence of disturbance torque caused by the external environment on r, and is 0.005Nm. The attitude ring model of the quad-rotor unmanned aerial vehicle is abbreviated as follows:
wherein the content of the first and second substances,
a matrix of moments of inertia is represented,
a matrix representing the uncertainty of the moment of inertia,
a matrix of the derivatives of the angular velocity is represented,
a matrix of control moments is represented, which,
a matrix of the interference is represented by,
representing symbols that are artificially defined for ease of computation.
And secondly, converting the attitude ring model of the quad-rotor unmanned aerial vehicle into an error equation as follows:
wherein e is p Error representing roll angular velocity, defined as e p ＝p-p d ，p d The reference signal representing the rolling angular velocity takes the value of 0rad/s,
represents p d First derivative with respect to time, e q Error representing pitch angle velocity, defined as e q ＝q-q d ，q d The reference signal representing the rolling angular velocity takes the value of 0rad/s,
denotes q d First derivative with respect to time, e r Error representing yaw rate, defined as e r ＝r-r d ，r d The reference signal representing the rolling angular velocity takes the value of 0rad/s,
is represented by r d First derivative with respect to time.
Showing the error e of the roll angular velocity p The first derivative with respect to time is,
showing the error e of the roll angular velocity q The first derivative with respect to time is,
showing the error e of the roll angular velocity r The first derivative with respect to time is,J x representing the moment of inertia of the X-axis, including a definite part and an indefinite part, i.e. J x ＝J 0x +ΔJ x ，J y The moment of inertia representing the Y axis, comprising a definite part and an indefinite part, i.e. J y ＝J 0y +ΔJ y ，J z Representing the moment of inertia of the Z axis, including a definite part and an indeterminate part, i.e. J z ＝J 0z +ΔJ z Y and Δ Y are symbols for convenience of expression, and are respectively defined as Y = J 0y -J 0z And Δ Y = Δ J y -ΔJ z Z and Δ Z are symbols for convenience of expression, and are respectively defined as Z = J 0z -J 0x And Δ Z = Δ J z -ΔJ x X and Δ X are symbols for convenience of expression, respectively defined as X = J 0x -J 0y And Δ X = Δ J x -ΔJ y . The above error equation is abbreviated as:
wherein the content of the first and second substances,
a matrix of the derivative of the error is represented,
indicating that for simplicity of computing the symbols are artificially defined,
indicating that for the sake of simplicity an artificially defined symbol is calculated,
representing an artificially defined symbol for simplicity of computation.
Thirdly, designing the attitude control law of the quad-rotor unmanned aerial vehicle as follows:
wherein, K p Represents u 2 The corresponding controller gain, value-0.0842, K q Represents u 3 The corresponding controller gain, which takes the value of-0.7384 r Represents u 4 The corresponding controller gain takes the value of-0.1389.
Fourthly, designing the interference observer by using an error equation:
wherein, the first and the second end of the pipe are connected with each other,
represents a pair interference d 2 Estimate of z 2 As an auxiliary variable, L 2 The observer gain is taken as diag {3.4989 2.5013.5040 },
denotes z 2 First derivative with respect to time.
And fifthly, compensating the interference estimation value through a feedforward channel, and compounding the interference estimation value with the control law designed in the fourth step:
wherein the content of the first and second substances,
a control matrix is represented that is,
represents a pair interference d 2 Is determined by the estimated value of (c),
representing a complex control law.
Those skilled in the art will appreciate that the invention may be practiced without these specific details.
Claims (5)
1. A quad-rotor unmanned aerial vehicle attitude control method considering inertia uncertainty is characterized by comprising the following steps:
firstly, establishing a quad-rotor unmanned aerial vehicle attitude ring model containing external interference;
secondly, converting an attitude ring model of the quad-rotor unmanned aerial vehicle into an error equation;
thirdly, designing a four-rotor unmanned aerial vehicle attitude control law;
fourthly, designing an interference observer by using an error equation to obtain an interference estimation value;
fifthly, compensating the interference estimated value through a feedforward channel, and compounding the interference estimated value with the attitude control law of the quad-rotor unmanned aerial vehicle designed in the third step to obtain a composite control law, so that attitude control of the quad-rotor unmanned aerial vehicle under the uncertainty of inertia is completed;
in the first step, a four-rotor unmanned aerial vehicle attitude ring model containing external interference is established as follows:
wherein, J 0x Represents the moment of inertia of the quad-rotor unmanned aerial vehicle in the X-axis direction, delta J x Representing the moment of inertia uncertainty, J, in the X-axis direction 0y Represents the rotary inertia of the quad-rotor unmanned aerial vehicle in the Y-axis direction, delta J y Representing the moment of inertia uncertainty, J, in the Y-axis direction 0z Represents the rotary inertia of the quad-rotor unmanned aerial vehicle in the Z-axis direction, delta J z Representing the uncertainty of the moment of inertia in the Z-axis direction, p representing the roll rate of the quad-rotor drone,
represents the first derivative of p with respect to time, q represents the pitch rate of a quad-rotor drone,
represents the first derivative of q with respect to time, r represents the yaw rate of a quadrotor drone,
representing the first derivative of r with respect to time, u 2 Representing the control moment, u, corresponding to the roll rate p 3 Representing control moment, u, corresponding to pitch angle rate q 4 Representing the control moment, d, corresponding to the yaw rate r p Representing the influence of disturbing moments on p due to the external environment, d q Representing the influence of disturbing moments on q due to the external environment, d r Representing the influence of disturbance torque caused by an external environment on r, and simplifying the attitude ring model of the quad-rotor unmanned aerial vehicle as follows:
moment of inertia therein
Uncertainty matrix of moment of inertia
Angular velocity derivative matrix
Control moment matrix
Interference matrix
Symbols are shown for simplicity of definition.
2. The attitude control method of a quad-rotor drone taking into account the uncertainty of inertia according to claim 1, characterized in that: in the second step, the attitude ring model of the quad-rotor unmanned aerial vehicle is converted into an error equation as follows:
wherein e is p Error representing roll angular velocity, defined as e p ＝p-p d ，p d A reference signal indicative of the roll angular velocity,
represents p d First derivative with respect to time, e q Error representing the pitch angle rate, defined as e q ＝q-q d ，q d A reference signal indicative of the roll angular velocity,
denotes q d First derivative with respect to time, e r Error representing yaw rate, defined as e r ＝r-r d ，r d A reference signal indicative of the roll angular velocity,
is represented by r d A first derivative with respect to time;
showing the error e of the roll angular velocity p The first derivative with respect to time is,
showing the error e of the roll angular velocity q The first derivative with respect to time is,
showing the error e of the roll angular velocity r First derivative with respect to time, J x Representing the moment of inertia of the X-axis, including a definite part and an indeterminate part, i.e. J x ＝J 0x +△J x ，J y The moment of inertia representing the Y axis, comprising a definite part and an indefinite part, i.e. J y ＝J 0y +△J y ，J z Representing the moment of inertia of the Z axis, including a definite part and an indeterminate part, i.e. J z ＝J 0z +△J z Y and DeltaY are symbols for convenience of representation, and are respectively defined as Y = J 0y -J 0z And Δ Y =ΔJ y -△J z Z and DeltaZ are symbols for convenience of representation, and are respectively defined as Z = J 0z -J 0x And Δ Z =ΔJ z -△J x X and DeltaX are symbols for easy representation, respectively defined as X = J 0x -J 0y And Δ X =ΔJ x -△J y (ii) a The above error equation is abbreviated as:
wherein the error derivative matrix
A symbol representing a simple calculation definition,
a symbol representing a simple calculation definition,
symbols representing easy calculation definitions.
3. The attitude control method of a quad-rotor drone taking into account the uncertainty of inertia according to claim 1, characterized in that: in the third step, the attitude control law of the quad-rotor unmanned aerial vehicle is designed as follows:
wherein, K p Denotes u 2 Corresponding controller gain, K q Represents u 3 Corresponding controller gain, K r Represents u 4 The corresponding controller gain.
4. The attitude control method of a quad-rotor drone taking into account the uncertainty of inertia according to claim 1, characterized in that: in the fourth step, the interference observer is designed by using an error equation as follows:
wherein the content of the first and second substances,
represents a pair interference d 2 Is estimated value of z 2 As an auxiliary variable, L 2 In order to obtain the gain of the observer,
denotes z 2 First derivative with respect to time.
5. The attitude control method of a quad-rotor drone taking into account the uncertainty of inertia according to claim 1, characterized in that: in the fifth step, the interference estimation value is compensated through a feedforward channel and compounded with the control law designed in the fourth step:
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| CN109884895A (en) * | 2019-03-11 | 2019-06-14 | 南京邮电大学 | Based on the unmanned plane adaptive Gaussian filtering algorithm under saturation limited situation |
| CN110850887A (en) * | 2019-10-10 | 2020-02-28 | 南京航空航天大学 | Composite dynamic inverse anti-interference attitude control method for quad-rotor unmanned aerial vehicle |
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| CN109884895A (en) * | 2019-03-11 | 2019-06-14 | 南京邮电大学 | Based on the unmanned plane adaptive Gaussian filtering algorithm under saturation limited situation |
| CN110850887A (en) * | 2019-10-10 | 2020-02-28 | 南京航空航天大学 | Composite dynamic inverse anti-interference attitude control method for quad-rotor unmanned aerial vehicle |
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