CN112527015A - Fire-fighting unmanned aerial vehicle formation sliding film control method based on event triggering - Google Patents

Fire-fighting unmanned aerial vehicle formation sliding film control method based on event triggering Download PDF

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CN112527015A
CN112527015A CN202011403190.3A CN202011403190A CN112527015A CN 112527015 A CN112527015 A CN 112527015A CN 202011403190 A CN202011403190 A CN 202011403190A CN 112527015 A CN112527015 A CN 112527015A
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李鸿一
赵光同
鲁仁全
孟伟
刘洋
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Guangdong University of Technology
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Abstract

The invention provides a fire-fighting unmanned aerial vehicle formation sliding film control method based on event triggering, belongs to the technical field of fire-fighting unmanned aerial vehicle formation control, solves the problem that the existing control method cannot simultaneously give consideration to attitude control and position control of a fire-fighting unmanned aerial vehicle, overcomes the defects that the existing control method causes a plurality of times of updating of an unmanned aerial vehicle controller and rapid performance attenuation, and firstly needs to establish a model of a quadrotor unmanned aerial vehicle and a topological relation of communication between the unmanned aerial vehicles. Then, an error-based sliding mode dynamic surface is designed, and a corresponding controller is further designed by combining an event trigger mechanism, so that rapid formation of the unmanned aerial vehicle is realized. According to the method, aiming at a fire-fighting unmanned aerial vehicle model with four rotors in practical application, a position controller and an attitude controller are respectively designed according to the position and attitude information of an unmanned aerial vehicle, formation of formation among multiple unmanned aerial vehicles and stability of the attitude are finally realized under the action of the two controllers, and attitude control and position control of the unmanned aerial vehicles are considered.

Description

Fire-fighting unmanned aerial vehicle formation sliding film control method based on event triggering
Technical Field
The invention relates to the technical field of fire-fighting unmanned aerial vehicle formation control, in particular to a fire-fighting unmanned aerial vehicle formation sliding film control method based on event triggering.
Background
In recent years, along with the development of the science and technology of fire-fighting unmanned aerial vehicles, the application field of the fire-fighting unmanned aerial vehicles is more and more extensive, and the functions of the fire-fighting unmanned aerial vehicles are also more and more powerful. In addition, with the market share of the four-rotor fire-fighting unmanned aerial vehicle greatly increased, the formation of the multi-rotor fire-fighting unmanned aerial vehicle is an attractive research hotspot.
Fire control unmanned aerial vehicle can play very big effect to high-rise building fire control work, for example can carry out conflagration location, fire detection and high-rise fire extinguishing etc. these works are the task of relatively difficult completion to normal fire engine and fire fighter. Therefore, many subjects related to the research of the fire-fighting unmanned aerial vehicle appear at present, but the research is also in the initial stage, and the fire-fighting unmanned aerial vehicle cannot be widely applied to the actual situation. And the formation control of the fire-fighting unmanned aerial vehicles is the basis for realizing the cooperative work of the multiple fire-fighting unmanned aerial vehicles. Therefore, the designed formation control algorithm has great theoretical and practical significance for the development of the fire-fighting unmanned aerial vehicle.
7/5/2019, a Chinese patent (publication number: CN109976361A) discloses an event-triggered four-rotor fire-fighting unmanned aerial vehicle attitude control method, which solves the problem of high-precision and rapid attitude tracking control of a four-rotor fire-fighting unmanned aerial vehicle under the comprehensive influences of uncertain model parameters, unmodeled dynamics, external interference and the like, and achieves the purposes of saving network and computing resources and improving the endurance of a system on the premise of ensuring the control performance of the four-rotor fire-fighting unmanned aerial vehicle.
Disclosure of Invention
In order to solve the problems that the existing method for controlling the fire-fighting unmanned aerial vehicle cannot simultaneously take account of attitude control and position control of the fire-fighting unmanned aerial vehicle, and overcome the defects that the existing control method causes a plurality of times of updating the unmanned aerial vehicle controller and the performance is fast to attenuate, the invention provides a method for controlling the sliding mode of formation of the fire-fighting unmanned aerial vehicle based on event triggering, which takes account of attitude control and position control of the unmanned aerial vehicle, reduces the times of updating the unmanned aerial vehicle controller while ensuring the excellent formation effect among a plurality of unmanned aerial vehicles, prevents the phenomenon of performance attenuation of the controller, and promotes the application development of the fire-fighting unmanned aerial vehicle.
In order to achieve the technical effects, the technical scheme of the invention is as follows:
a fire-fighting unmanned aerial vehicle formation sliding film control method based on event triggering at least comprises the following steps:
s1, establishing a model of a quad-rotor fire-fighting unmanned aerial vehicle to obtain a continuous position dynamic equation and an attitude dynamic equation of the fire-fighting unmanned aerial vehicle;
s2, confirming a communication topological relation graph among the fire-fighting unmanned aerial vehicles based on graph theory, and setting a formation form expected by the fire-fighting unmanned aerial vehicles;
s3, solving the position error of the fire-fighting unmanned aerial vehicle according to the expected formation shape of the fire-fighting unmanned aerial vehicle, designing a position sliding mode dynamic surface by using the position error information, and designing position control input quantity based on the sliding mode dynamic surface;
s4, according to the position control input quantity, an expected posture is obtained through inverse solution;
s5, solving the attitude error of the fire-fighting unmanned aerial vehicle, designing an attitude sliding mode dynamic surface by utilizing the attitude error information, and designing an attitude control input quantity based on the sliding mode dynamic surface;
s6, designing an event trigger mechanism of the position controller and the attitude controller;
s7, judging whether the updating standard of the position controller and/or the attitude controller is met or not according to an event triggering mechanism, and if so, updating the position controller and/or the attitude controller; otherwise, no update is performed.
In the technical scheme, a model of the quad-rotor fire-fighting unmanned aerial vehicle is established to obtain a continuous position dynamic equation and an attitude dynamic equation of the unmanned aerial vehicle, wherein the established model of the fire-fighting unmanned aerial vehicle is a specific model, and is strong in pertinence and high in accuracy; then establishing a topological relation graph of communication among the unmanned aerial vehicles, giving an expected formation form of the formation, then solving the position error of the fire-fighting unmanned aerial vehicle, and utilizes error information to design a position sliding mode dynamic surface, designs position control input quantity based on the sliding mode dynamic surface, according to the position control input quantity, the expected attitude is obtained by inverse solution, and then the attitude error information is obtained, and utilizes error information to design a posture sliding mode dynamic surface, designs a posture control input quantity based on the sliding mode dynamic surface, designs an event trigger mechanism of a position controller and a posture controller, a controller for determining whether to update the position control and/or attitude based on the event trigger mechanism, thereby reduce the controller and update the number of times, guarantee that the controller performance can not attenuate greatly, compromise fire control unmanned aerial vehicle's attitude control and position control's problem when the life-span, realized fire control unmanned aerial vehicle's quick formation.
Preferably, in step S1, the model of the quad-rotor fire-fighting drone is built, and the comprehensive expression of the continuous position dynamic equation and the continuous attitude dynamic equation of the fire-fighting drone is obtained as follows:
Figure BDA0002817636020000021
wherein, i represents the ith fire-fighting unmanned aerial vehicle, i is 1, …, and N represents the number of the fire-fighting unmanned aerial vehicles; pi＝[xi,yi,zi]TAnd Vi＝[vix,viy,viz]TRespectively representing the coordinate and the speed of the fire-fighting unmanned aerial vehicle i in an inertial coordinate system,
Figure BDA0002817636020000034
represents a phasor form; g is the acceleration of gravity, e3＝[0,0,1]T，miThe quality of the ith fire-fighting unmanned aerial vehicle; thetai＝[φi,θi,ψi]T、Ωi＝[Ωφi,Ωθi,Ωψi]TAttitude angle and angular rate, respectively,φi,θi,ψiRespectively a rolling angle, a pitch angle and a yaw angle; r (theta)i) The rotation matrix represents the transformation of the coordinate of the fire-fighting unmanned aerial vehicle from the coordinate of the machine body to the inertial coordinate; t (theta)i) The attitude angular velocity and the attitude angular velocity are converted into a matrix;
fire-fighting unmanned aerial vehicle converts body coordinate into rotation matrix R (theta) of inertia coordinatei) The expression is as follows:
Figure BDA0002817636020000031
transformation matrix T (theta) of attitude angular velocity and attitude angular velocityi) The expression of (a) is:
Figure BDA0002817636020000032
wherein ,JiIs an inertia matrix; giIs a turning moment; u. ofi、τiRespectively, the inputs of the position controller and the attitude controller.
Preferably, the graph theory described in step S2 is an undirected graph theory, and the process of confirming the communication topological relation graph among the fire-fighting unmanned aerial vehicles based on the undirected graph theory is as follows:
let the undirected graph represent G ═ V, E, a }, where V ═ 1, …, N } represents the set of nodes of the undirected graph G,
Figure BDA0002817636020000033
representing a set of edges in an undirected graph G; a represents a weight matrix, and the weight matrix is obtained according to the edge relation of a set E of edges in an undirected graph G, wherein A is [ a ]ij]∈RN×N, wherein ,aijRepresenting elements in the weight matrix, representing the communication relationship between the fire-fighting unmanned aerial vehicle i and the fire-fighting unmanned aerial vehicle j, aij0 or 1;
if aij0 represents that the fire-fighting unmanned aerial vehicle i is not connected with the fire-fighting unmanned aerial vehicle j, and no communication exists; if aijThe fire control unmanned aerial vehicle i is connected with fire control unmanned aerial vehicle j for 1, and communication exchange exists.
Preferably, the nodes of the communication topological relation graph among the fire-fighting unmanned aerial vehicles based on undirected graph theory confirmation are bidirectional and connected, and no self-to-self communication exists, namely, a is satisfiedij＝aji，aii＝0。
Preferably, the elements of any row or any column in the weight matrix a are not all zero.
Preferably, if aij1, the expected formation expression of the fire-fighting unmanned aerial vehicle is as follows:
Pi-Pj＝pij,Vi-Vj＝0
wherein ,PiRepresenting the coordinates of the fire-fighting unmanned aerial vehicle i in an inertial coordinate system; pjRepresenting the coordinates of the fire-fighting unmanned aerial vehicle j in an inertial coordinate system; viRepresenting the speed of the fire-fighting unmanned aerial vehicle i under an inertial coordinate system; vjRepresenting the speed of the fire-fighting unmanned aerial vehicle j in an inertial coordinate system; p is a radical ofijCan represent a time-varying function, can also represent a constant vector, and pij＝-pji；pijAnd the expected position vectors of the fire-fighting unmanned aerial vehicle i and the fire-fighting unmanned aerial vehicle j are obtained.
Preferably, in step S3, according to the desired formation form of the fire-fighting unmanned aerial vehicle, the expression for solving the position error is as follows:
Figure BDA0002817636020000041
wherein ,PjRepresenting the coordinates of the fire-fighting unmanned aerial vehicle j in an inertial coordinate system; piRepresenting the coordinates of the fire-fighting unmanned aerial vehicle i in an inertial coordinate system;
Figure BDA0002817636020000042
indicating the position error of the fire-fighting unmanned aerial vehicle i;
the expression of the position sliding mode dynamic surface is designed by utilizing the position error information as follows:
Figure BDA0002817636020000043
wherein ,ci,1A parameter greater than zero representing a design requirement;
Figure BDA0002817636020000044
representing a position sliding mode dynamic surface;
the process of designing the position control input quantity based on the sliding mode dynamic surface comprises the following steps:
to design the position control input quantity for convenience, the expected position control input quantity U is calculatediComprises the following steps:
Figure BDA0002817636020000045
wherein ,υiFor the designed position control input quantity, based on the sliding mode dynamic surface, designing the corresponding expected position control input as follows:
Figure BDA0002817636020000046
wherein ,
Figure BDA0002817636020000047
are all positive parameters of the design;
Figure BDA0002817636020000048
parameters designed to accelerate the error to the sliding mode dynamic surface are shown. Controlling input U according to desired positioniSolving for the value of the position control input quantity as:
υi＝mi[Uix(sinθicosφicosψi+sinψisinθi)+Uiy(sinψisinθicosφi-cosψisinθi)+(Uiz+g)cosθicosφi]。
here, if the control performance is sufficiently good,
Figure BDA0002817636020000049
may be set to 0.
Preferably, the expected attitude Θ is obtained by inverse solution according to the position control input in step S4di＝[φdi,θdi,ψdi]TThe expression of (a) is:
Figure BDA00028176360200000410
Figure BDA00028176360200000411
wherein ,ψdiRepresents the desired pose ΘdiThe desired yaw angle is determined.
Preferably, in step S5, the attitude error is solved, and an attitude sliding mode dynamic surface is designed by using the attitude error information, and the process of designing the attitude control input quantity based on the sliding mode dynamic surface is as follows:
the attitude error expression of the ith fire-fighting unmanned aerial vehicle is as follows:
Figure BDA0002817636020000051
wherein ,
Figure BDA0002817636020000052
representing the attitude error of the ith fire-fighting unmanned aerial vehicle; thetadiRepresenting a desired pose; thetaiRepresenting an attitude angle;
design of attitude sliding mode dynamic surface by using attitude error information
Figure BDA0002817636020000053
The expression of (a) is:
Figure BDA0002817636020000054
wherein ,ci,2Parameters greater than zero are required for design;
the expression of the attitude control input quantity based on sliding mode dynamic surface design is as follows:
Figure BDA0002817636020000055
wherein ,viRepresenting the design attitude control input quantity based on the sliding mode dynamic surface; j. the design is a squareiIs an inertia matrix;
Figure BDA0002817636020000056
for the purpose of a positive parameter of the design,
Figure BDA0002817636020000057
expressed as set up to speed up the error to the sliding mode dynamic surface.
In this case, if the controllability is good,
Figure BDA0002817636020000058
may be set to 0.
Preferably, the event trigger mechanism of the position controller and the attitude controller in step S6 is:
Figure BDA0002817636020000059
Figure BDA00028176360200000510
Figure BDA00028176360200000511
Figure BDA00028176360200000512
wherein ,
Figure BDA00028176360200000513
all represent the moment when the controller is triggered;
Figure BDA00028176360200000514
are all indicative of an intermediate parameter,
Figure BDA00028176360200000515
Figure BDA00028176360200000516
δi,1、δi,2、∈i,1、∈i,2all are positive parameters to be designed;
the update criteria of the position controller and/or the attitude controller in step S7 are:
Figure BDA00028176360200000517
and/or
Figure BDA00028176360200000518
The expression after the position controller is updated is as follows:
Figure BDA00028176360200000519
the expression after the attitude controller is updated is as follows:
Figure BDA00028176360200000520
wherein ,ui、τiRespectively, the inputs of the position controller and the attitude controller.
Here, the updating of the position controller and/or the attitude controller includes updating only the position controller, updating only the attitude controller, and updating both the position controller and the attitude controller, and the excellent formation effect of the fire-fighting unmanned aerial vehicle is ensured after the updating of the position controller and/or the attitude controller.
Compared with the prior art, the technical scheme of the invention has the beneficial effects that:
the invention provides a fire-fighting unmanned aerial vehicle formation sliding film control method based on event triggering. Then, an error-based sliding mode dynamic surface is designed, and a corresponding controller is further designed by combining an event trigger mechanism, so that rapid formation of the unmanned aerial vehicle is realized. The method is aimed at a fire-fighting unmanned aerial vehicle model with four rotors in practical application, a position controller and an attitude controller are respectively designed according to position and attitude information of the unmanned aerial vehicle, formation and attitude stabilization among multiple unmanned aerial vehicles are finally realized under the action of the two controllers, attitude control and position control of the unmanned aerial vehicle are considered, the number of times of updating the unmanned aerial vehicle controller is reduced while a good formation effect among the multiple unmanned aerial vehicles is guaranteed, the phenomenon of performance attenuation of the controller is prevented, and application development of the fire-fighting unmanned aerial vehicle is promoted.
Drawings
Fig. 1 is a schematic flow chart of a fire-fighting unmanned aerial vehicle formation slip film control method based on event triggering according to an embodiment of the present invention;
fig. 2 shows a control block diagram of the event-triggered film control of fire-fighting drone formation proposed in the embodiment of the present invention;
fig. 3 is a graph showing the movement of a quad-rotor fire-fighting unmanned aerial vehicle during formation of a formation in an embodiment of the invention;
fig. 4 is a simulation diagram showing the variation of the position error in the formation process of the quad-rotor fire-fighting unmanned aerial vehicle proposed in the embodiment of the present invention;
fig. 5 is a simulation diagram showing the speed error variation in the formation process of the quad-rotor fire-fighting unmanned aerial vehicle proposed in the embodiment of the invention.
Detailed Description
The drawings are for illustrative purposes only and are not to be construed as limiting the patent;
for better illustration of the present embodiment, certain parts of the drawings may be omitted, enlarged or reduced, and do not represent actual dimensions;
it will be understood by those skilled in the art that certain well-known descriptions of the figures may be omitted.
The technical solution of the present invention is further described below with reference to the accompanying drawings and examples.
Example 1
The positional relationships depicted in the drawings are for illustrative purposes only and are not to be construed as limiting the present patent;
the flow diagram of the fire-fighting unmanned aerial vehicle formation slip film control method based on event triggering as shown in fig. 1 is shown, and referring to fig. 1, the method comprises the following steps:
s1, establishing a model of a quad-rotor fire-fighting unmanned aerial vehicle to obtain a continuous position dynamic equation and an attitude dynamic equation of the fire-fighting unmanned aerial vehicle, wherein the expression is as follows:
Figure BDA0002817636020000071
wherein, i represents the ith fire-fighting unmanned aerial vehicle, i is 1, …, and N represents the number of the fire-fighting unmanned aerial vehicles; pi＝[xi,yi,zi]TAnd Vi＝[vix,viy,viz]TRespectively representing the coordinate and the speed of the fire-fighting unmanned aerial vehicle i in an inertial coordinate system,
Figure BDA0002817636020000075
represents a phasor form; g is the acceleration of gravity, e3＝[0,0,1]T，miThe quality of the ith fire-fighting unmanned aerial vehicle; thetai＝[φi,θi,ψi]T、Ωi＝[Ωφi,Ωθi,Ωψi]TAttitude angle and angular rate, respectivelyi,θi,ψiRespectively a rolling angle, a pitch angle and a yaw angle; r (theta)i) The rotation matrix represents the transformation of the coordinate of the fire-fighting unmanned aerial vehicle from the coordinate of the machine body to the inertial coordinate; t (theta)i) The attitude angular velocity and the attitude angular velocity are converted into a matrix;
fire control unmanned aerial vehicleRotation matrix R (theta) for converting body coordinates into inertial coordinatesi) The expression is as follows:
Figure BDA0002817636020000072
transformation matrix T (theta) of attitude angular velocity and attitude angular velocityi) The expression of (a) is:
Figure BDA0002817636020000073
wherein ,JiIs an inertia matrix; giIs a turning moment; u. ofi、τiRespectively, the inputs of the position controller and the attitude controller.
S2, confirming a communication topological relation graph among the fire-fighting unmanned aerial vehicles based on graph theory, and setting a formation form expected by the fire-fighting unmanned aerial vehicles;
the graph theory is an undirected graph theory, and the process of confirming the communication topological relation graph among the fire-fighting unmanned aerial vehicles based on the undirected graph theory is as follows:
let the undirected graph represent G ═ V, E, a }, where V ═ 1, …, N } represents the set of nodes of the undirected graph G,
Figure BDA0002817636020000074
representing a set of edges in an undirected graph G; a represents a weight matrix, and the weight matrix is obtained according to the edge relation of a set E of edges in an undirected graph G, wherein A is [ a ]ij]∈RN×N, wherein ,aijRepresenting elements in the weight matrix, representing the communication relationship between the fire-fighting unmanned aerial vehicle i and the fire-fighting unmanned aerial vehicle j, aij0 or 1;
if aij0 represents that the fire-fighting unmanned aerial vehicle i is not connected with the fire-fighting unmanned aerial vehicle j, and no communication exists; if aijThe fire control unmanned aerial vehicle i is connected with fire control unmanned aerial vehicle j for 1, and communication exchange exists.
The nodes of the communication topological relation graph among the fire-fighting unmanned aerial vehicles confirmed based on undirected graph theory are bidirectional and communicated, and the communication between the nodes do not exist, namely the requirement of meeting the requirement:aij＝aji，aii＝0。
The elements of any row or any column in the weight matrix a are not all zero.
Preferably, if aij1, the expected formation expression of the fire-fighting unmanned aerial vehicle is as follows:
Pi-Pj＝pij,Vi-Vj＝0
wherein ,PiRepresenting the coordinates of the fire-fighting unmanned aerial vehicle i in an inertial coordinate system; pjRepresenting the coordinates of the fire-fighting unmanned aerial vehicle j in an inertial coordinate system; viRepresenting the speed of the fire-fighting unmanned aerial vehicle i under an inertial coordinate system; vjRepresenting the speed of the fire-fighting unmanned aerial vehicle j in an inertial coordinate system; p is a radical ofijCan represent a time-varying function, can also represent a constant vector, and pij＝-pji；pijAnd the expected position vectors of the fire-fighting unmanned aerial vehicle i and the fire-fighting unmanned aerial vehicle j are obtained.
S3, solving the position error of the fire-fighting unmanned aerial vehicle according to the expected formation shape of the fire-fighting unmanned aerial vehicle, designing a position sliding mode dynamic surface by using the position error information, and designing position control input quantity based on the sliding mode dynamic surface;
according to the expected formation form of the fire-fighting unmanned aerial vehicle, solving the position error by the following expression:
Figure BDA0002817636020000081
wherein ,PjRepresenting the coordinates of the fire-fighting unmanned aerial vehicle j in an inertial coordinate system; piRepresenting the coordinates of the fire-fighting unmanned aerial vehicle i in an inertial coordinate system;
Figure BDA0002817636020000082
indicating the position error of the fire-fighting unmanned aerial vehicle i;
the expression of the position sliding mode dynamic surface is designed by utilizing the position error information as follows:
Figure BDA0002817636020000083
wherein ,ci,1A parameter greater than zero representing a design requirement;
Figure BDA0002817636020000084
representing a position sliding mode dynamic surface;
the process of designing the position control input quantity based on the sliding mode dynamic surface comprises the following steps:
to design the position control input quantity for convenience, the expected position control input quantity U is calculatediComprises the following steps:
Figure BDA0002817636020000085
wherein ,υiFor the designed position control input quantity, based on the sliding mode dynamic surface, designing the corresponding expected position control input as follows:
Figure BDA0002817636020000086
wherein ,
Figure BDA0002817636020000087
are all positive parameters of the design;
Figure BDA0002817636020000088
parameters designed to accelerate the error to the sliding mode dynamic surface are shown. Controlling input U according to desired positioniSolving for the value of the position control input quantity as:
υi＝mi[Uix(sinθicosφicosψi+sinψisinθi)+Uiy(sinψisinθicosφi-cosψisinθi)+(Uiz+g)cosθicosφi]. In practical implementation, if the control performance is good enough,
Figure BDA0002817636020000091
may be set to 0.
And S4, according to the position control input quantity, obtaining the expected posture through inverse solution. Desired pose Θdi＝[φdi,θdi,ψdi]TThe expression of (a) is:
Figure BDA0002817636020000092
Figure BDA0002817636020000093
wherein ,ψdiRepresents the desired pose ΘdiThe desired yaw angle is determined.
S5, solving the attitude error of the fire-fighting unmanned aerial vehicle, designing an attitude sliding mode dynamic surface by utilizing the attitude error information, and designing an attitude control input quantity based on the sliding mode dynamic surface; the process of designing the attitude control input quantity based on the sliding mode dynamic surface comprises the following steps:
the attitude error expression of the ith fire-fighting unmanned aerial vehicle is as follows:
Figure BDA0002817636020000094
wherein ,
Figure BDA0002817636020000095
representing the attitude error of the ith fire-fighting unmanned aerial vehicle; thetadiRepresenting a desired pose; thetaiRepresenting an attitude angle;
design of attitude sliding mode dynamic surface by using attitude error information
Figure BDA0002817636020000096
The expression of (a) is:
Figure BDA0002817636020000097
wherein ,ci,2Parameters greater than zero are required for design;
the expression of the attitude control input quantity based on sliding mode dynamic surface design is as follows:
Figure BDA0002817636020000098
wherein ,viRepresenting the design attitude control input quantity based on the sliding mode dynamic surface; j. the design is a squareiIs an inertia matrix;
Figure BDA0002817636020000099
for the purpose of a positive parameter of the design,
Figure BDA00028176360200000910
expressed as set up to speed up the error to the sliding mode dynamic surface. In practical implementation, if the controllability is good,
Figure BDA00028176360200000911
may be set to 0.
S6, designing an event trigger mechanism of the position controller and the attitude controller;
Figure BDA00028176360200000912
Figure BDA00028176360200000913
Figure BDA00028176360200000914
Figure BDA00028176360200000915
wherein ,
Figure BDA0002817636020000101
all represent the moment when the controller is triggered;
Figure BDA0002817636020000102
are all indicative of an intermediate parameter,
Figure BDA0002817636020000103
Figure BDA0002817636020000104
δi,1、δi,2、∈i,1、∈i,2all are positive parameters to be designed;
s7, judging whether the updating standard of the position controller and/or the attitude controller is met or not according to an event triggering mechanism, and if so, updating the position controller and/or the attitude controller; otherwise, no update is performed. The update criteria of the position controller and/or the attitude controller in step S7 are:
Figure BDA0002817636020000105
and/or
Figure BDA0002817636020000106
The expression after the position controller is updated is as follows:
Figure BDA0002817636020000107
the expression after the attitude controller is updated is as follows:
Figure BDA0002817636020000108
wherein ,ui、τiRespectively, the inputs of the position controller and the attitude controller.
Generally, the control block diagram based on the whole method proposed in the embodiment of the invention is shown in fig. 2, referring to fig. 2, and the coordinate P of the fire-fighting unmanned aerial vehicle j in the inertial coordinate system is usedjAndvelocity VjAs input to the position controller, a corresponding desired position control input U is obtainediIn practice, attitude calculation and filtering may be performed, then a position controller (actuator) and an attitude (actuator) are triggered based on an event trigger mechanism, the four-rotor unmanned aerial vehicle model is directly acted on, and then the four-rotor unmanned aerial vehicle model is fed back to the position controller and the attitude updater for updating, so that the synovial membrane control considering attitude updating and position updating is realized, and the excellent formation effect of unmanned fire fighting is ensured.
In order to better illustrate the effectiveness of the method provided by the present invention in formation control of fire-fighting unmanned aerial vehicles, application simulation is performed on the method provided by the present invention, which is now described:
first, in the simulation, the main parameters are set as follows:
g is the acceleration of gravity of 9.8m/s2Quality of the ith fire-fighting unmanned aerial vehicle: m isi＝1.1Kg，Ji＝diag[15.6×10-3kg·m2,15.5×10-3kg·m2,28.3×10-3kg·m2]，i＝1,2,3。
The fire-fighting unmanned aerial vehicle is in an initial state of position coordinates:
P1＝[1,-1,0]T,P2＝[2,1,1]T,P3＝[-2,-1,-1]T，Ω1＝Ω2＝Ω3＝[0,0,0]T。
the controller parameters are: c. C1,1＝c2,1＝c3,1＝3,c1,2＝c2,2＝c3,2＝2.5，
Figure BDA0002817636020000109
Figure BDA00028176360200001010
The expected formation of the fire-fighting unmanned aerial vehicle is set as follows: p1-P2＝[1,0,0]T,P1-P3＝[-1,0,0]T。
Fig. 3 shows a motion curve diagram of a formation process of 3 fire-fighting unmanned aerial vehicles, wherein the UAV1 represents a first fire-fighting unmanned aerial vehicle, the UAV2 represents a second fire-fighting unmanned aerial vehicle, and the UAV3 represents a third fire-fighting unmanned aerial vehicle, and as can be seen from fig. 2, the motion curves of the 3 fire-fighting unmanned aerial vehicles at the beginning are cluttered, but are gradually restored to be consistent subsequently under the action of the control method provided by the invention.
Fig. 4 is the curve that 3 fire control unmanned aerial vehicle formation process position error changes, six altogether to the position of first fire control unmanned aerial vehicle UAV1 is the comparison benchmark, compares respectively with the position error of second fire control unmanned aerial vehicle UAV2, third fire control unmanned aerial vehicle UAV3 in each dimension space of x, y, z three-dimensional space, can see from fig. 3, 3 fire control unmanned aerial vehicle position error in the three dimension all tend to steadily gradually.
Fig. 5 shows the curves of the position error changes during formation of the 3 fire-fighting unmanned aerial vehicles, which are six curves, and also the speed of the first fire-fighting unmanned aerial vehicle UAV1 is used as the reference for comparison, and the speed errors of the second fire-fighting unmanned aerial vehicle UAV2 and the third fire-fighting unmanned aerial vehicle UAV3 are compared in each dimension of the x, y, z three-dimensional space, and as can be seen from fig. 5, the speed errors of the 3 fire-fighting unmanned aerial vehicles in the three dimensions gradually tend to 0. Fig. 2 to 4 show that the method provided by the invention can ensure that the formation of the fire-fighting unmanned aerial vehicle formation is rapid, the expected formation is achieved, and the control performance is good.
The positional relationships depicted in the drawings are for illustrative purposes only and are not to be construed as limiting the present patent;
it should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims (10)

1. A fire-fighting unmanned aerial vehicle formation slip film control method based on event triggering is characterized by at least comprising the following steps:
s1, establishing a model of a quad-rotor fire-fighting unmanned aerial vehicle to obtain a continuous position dynamic equation and an attitude dynamic equation of the fire-fighting unmanned aerial vehicle;
s2, confirming a communication topological relation graph among the fire-fighting unmanned aerial vehicles based on graph theory, and setting a formation form expected by the fire-fighting unmanned aerial vehicles;
s3, solving the position error of the fire-fighting unmanned aerial vehicle according to the expected formation shape of the fire-fighting unmanned aerial vehicle, designing a position sliding mode dynamic surface by using the position error information, and designing position control input quantity based on the sliding mode dynamic surface;
s4, according to the position control input quantity, an expected posture is obtained through inverse solution;
s5, solving the attitude error of the fire-fighting unmanned aerial vehicle, designing an attitude sliding mode dynamic surface by utilizing the attitude error information, and designing an attitude control input quantity based on the sliding mode dynamic surface;
s6, designing an event trigger mechanism of the position controller and the attitude controller;
s7, judging whether the updating standard of the position controller and/or the attitude controller is met or not according to an event triggering mechanism, and if so, updating the position controller and/or the attitude controller; otherwise, no update is performed.
2. The method for controlling the formation slip film of fire-fighting unmanned aerial vehicle based on event triggering according to claim 1, wherein the step S1 is implemented by modeling a quad-rotor fire-fighting unmanned aerial vehicle, and the comprehensive expressions of the continuous position dynamic equation and the continuous attitude dynamic equation of the fire-fighting unmanned aerial vehicle are as follows:
Figure FDA0002817636010000011
wherein, i represents the ith fire-fighting unmanned aerial vehicle, i is 1, …, and N represents the number of the fire-fighting unmanned aerial vehicles; pi＝[xi，yi，zi]TAnd Vi＝[vix，viy，viz]TRespectively representing the coordinate and the speed of the fire-fighting unmanned aerial vehicle i in an inertial coordinate system,
Figure FDA0002817636010000012
represents a phasor form; g is the acceleration of gravity, e3＝[0，0，1]T，miThe quality of the ith fire-fighting unmanned aerial vehicle; thetai＝[φi，θi，ψi]T、Ωi＝[Ωφi，Ωθi，Ωψi]TAttitude angle and angular rate, respectivelyi，θi，ψiRespectively a rolling angle, a pitch angle and a yaw angle; r (theta)i) The rotation matrix represents the transformation of the coordinate of the fire-fighting unmanned aerial vehicle from the coordinate of the machine body to the inertial coordinate; t (theta)i) The attitude angular velocity and the attitude angular velocity are converted into a matrix;
fire-fighting unmanned aerial vehicle converts body coordinate into rotation matrix R (theta) of inertia coordinatei) The expression is as follows:
Figure FDA0002817636010000021
transformation matrix T (theta) of attitude angular velocity and attitude angular velocityi) The expression of (a) is:
Figure FDA0002817636010000022
wherein ,JiIs an inertia matrix; giIs a turning moment; u. ofi、τiRespectively, the inputs of the position controller and the attitude controller.
3. The method for controlling the formation slip film of fire-fighting unmanned aerial vehicles based on event triggering according to claim 2, wherein the graph theory in step S2 is an undirected graph theory, and the process of confirming the communication topological relation graph among the fire-fighting unmanned aerial vehicles based on the undirected graph theory is as follows:
let the undirected graph represent G ═ V, E, a }, where V ═ 1, …, N } represents the set of nodes of the undirected graph G,
Figure FDA0002817636010000023
representing a set of edges in an undirected graph G; a represents a weight matrix, and the weight matrix is obtained according to the edge relation of a set E of edges in an undirected graph G, wherein A is [ a ]ij]∈RN×N, wherein ,aijRepresenting elements in the weight matrix, representing the communication relationship between the fire-fighting unmanned aerial vehicle i and the fire-fighting unmanned aerial vehicle j, aij0 or 1;
if aij0, the representative fire-fighting drone i is not connected with the fire-fighting drone j, and no communication exists; if aij1, representing that fire control unmanned aerial vehicle i is connected with fire control unmanned aerial vehicle j, there is communication exchange.
4. The event-trigger-based fire-fighting unmanned aerial vehicle formation slip film control method according to claim 3, wherein the nodes of the communication topological relation graph among the fire-fighting unmanned aerial vehicles based on undirected graph theory are bidirectional and connected, and no communication exists between the nodes and the nodes, namely: a isij＝aji，aii＝0。
5. The event trigger-based fire control unmanned aerial vehicle formation slip film control method of claim 4, wherein elements of any row or any column in the weight matrix A are not all zero.
6. The event-trigger-based fire-fighting unmanned aerial vehicle formation slip film control method according to claim 5, wherein if a isij1, the expected formation expression of the fire-fighting unmanned aerial vehicle is as follows:
Pi-Pj＝pij，Vi-Vj＝0
wherein ,PiRepresenting the coordinates of the fire-fighting unmanned aerial vehicle i in an inertial coordinate system; pjRepresenting the coordinates of the fire-fighting unmanned aerial vehicle j in an inertial coordinate system; viExpress fire control nobodyThe speed of machine i in an inertial coordinate system; vjRepresenting the speed of the fire-fighting unmanned aerial vehicle j in an inertial coordinate system; p is a radical ofijCan represent a time-varying function, can also represent a constant vector, and pij＝-pji，pijAnd the expected position vectors of the fire-fighting unmanned aerial vehicle i and the fire-fighting unmanned aerial vehicle j are obtained.
7. The method for controlling the sliding film of fire-fighting unmanned aerial vehicle formation based on event triggering according to claim 6, wherein in step S3, according to the desired formation form of the fire-fighting unmanned aerial vehicle, the expression for solving the position error is as follows:
Figure FDA0002817636010000031
wherein ,PjRepresenting the coordinates of the fire-fighting unmanned aerial vehicle j in an inertial coordinate system; piRepresenting the coordinates of the fire-fighting unmanned aerial vehicle i in an inertial coordinate system;
Figure FDA0002817636010000032
indicating the position error of the fire-fighting unmanned aerial vehicle i;
the expression of the position sliding mode dynamic surface is designed by utilizing the position error information as follows:
Figure FDA0002817636010000033
wherein ,ci，1A parameter greater than zero representing a design requirement;
Figure FDA0002817636010000034
representing a position sliding mode dynamic surface;
the process of designing the position control input quantity based on the sliding mode dynamic surface comprises the following steps:
let expected position control input UiComprises the following steps:
Figure FDA0002817636010000035
wherein ,υiFor the designed position control input quantity, based on the sliding mode dynamic surface, designing the corresponding expected position control input as follows:
Figure FDA0002817636010000036
wherein ,
Figure FDA0002817636010000037
are all positive parameters of the design;
Figure FDA0002817636010000038
parameters designed to accelerate the error to the sliding mode dynamic surface are shown. If the control performance is good enough,
Figure FDA0002817636010000039
can be set to 0; controlling input U according to desired positioniSolving for the value of the position control input quantity as:
υi＝mi[Uix(sinθicosφicosψi+sinψisinθi)+Uiy(sinψisinθicosφi-cosψisinθi)+(Uiz+g)cosθicosφi]。
8. the method for controlling the sliding film of a fire-fighting unmanned aerial vehicle formation based on event triggering according to claim 7, wherein in step S4, the expected attitude Θ is obtained by inverse solution according to the position control input quantitydi＝[φdi，θdi，ψdi]TThe expression of (a) is:
Figure FDA00028176360100000310
Figure FDA00028176360100000311
wherein ,ψdiRepresents the desired pose ΘdiThe desired yaw angle is determined.
9. The method for controlling the formation slip film of fire-fighting unmanned aerial vehicle based on event triggering according to claim 8, wherein the step S5 is to solve the attitude error and design an attitude sliding mode dynamic surface by using the attitude error information, and the process of designing the attitude control input quantity based on the sliding mode dynamic surface is as follows:
the attitude error expression of the ith fire-fighting unmanned aerial vehicle is as follows:
Figure FDA0002817636010000041
wherein ,
Figure FDA0002817636010000042
representing the attitude error of the ith fire-fighting unmanned aerial vehicle; thetadiRepresenting a desired pose; thetaiRepresenting an attitude angle;
design of attitude sliding mode dynamic surface by using attitude error information
Figure FDA0002817636010000043
The expression of (a) is:
Figure FDA0002817636010000044
wherein ,ci，2Parameters greater than zero are required for design;
the expression of the attitude control input quantity based on sliding mode dynamic surface design is as follows:
Figure FDA0002817636010000045
wherein ,viRepresenting the design attitude control input quantity based on the sliding mode dynamic surface; j. the design is a squareiIs an inertia matrix;
Figure FDA0002817636010000046
for the purpose of a positive parameter of the design,
Figure FDA0002817636010000047
expressed as set up to speed up the error to the sliding mode dynamic surface. If the controllability can be good, it is possible to,
Figure FDA0002817636010000048
may be set to 0.
10. The method for controlling the synovial membrane of fire fighting unmanned aerial vehicle formation based on event triggering of claim 9, wherein the event triggering mechanism of the position controller and the attitude controller in step S6 is:
Figure FDA0002817636010000049
Figure FDA00028176360100000410
Figure FDA00028176360100000411
Figure FDA00028176360100000412
wherein ,
Figure FDA00028176360100000413
all represent the moment when the controller is triggered;
Figure FDA00028176360100000414
are all indicative of an intermediate parameter,
Figure FDA00028176360100000415
Figure FDA00028176360100000416
δi，1、δi，2、∈i，1、∈i，2all are positive parameters to be designed;
the update criteria of the position controller and/or the attitude controller in step S7 are:
Figure FDA00028176360100000417
and/or
Figure FDA00028176360100000418
The expression after the position controller is updated is as follows:
Figure FDA00028176360100000419
the expression after the attitude controller is updated is as follows:
Figure FDA00028176360100000420
wherein ,ui、τiRespectively, the inputs of the position controller and the attitude controller.
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