CN113419552B - A vector control method for a tandem dual-rotor unmanned aerial vehicle - Google Patents

A vector control method for a tandem dual-rotor unmanned aerial vehicle Download PDF

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CN113419552B
CN113419552B CN202110820343.2A CN202110820343A CN113419552B CN 113419552 B CN113419552 B CN 113419552B CN 202110820343 A CN202110820343 A CN 202110820343A CN 113419552 B CN113419552 B CN 113419552B
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CN113419552A (en
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陆嘉晨
郑恩辉
刘琛
唐勇
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Hangzhou Qifei Intelligent Technology Co ltd
China Jiliang University
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China Jiliang University
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • 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
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Abstract

本发明公开了一种横列式双旋翼无人机矢量控制方法。根据双旋翼无人机的动力学模型构建设计滑模控制器；根据输入的双旋翼无人机的期望位置和期望速度处理获得双旋翼无人机在世界坐标系下的加速度，然后解算到双旋翼无人机的执行器的控制量，通过混控器将执行器的控制量叠加到俯仰通道和偏航通道的控制量得到双旋翼无人机的执行器的输出量，进而控制双旋翼无人机矢量飞行。本发明通过采用基于虚拟控制量的滑模控制，虚拟控制量解算和混控器设计，实现了矢量控制，并且简化了控制器的复杂度，易于在嵌入式端部署。

Figure 202110820343

The invention discloses a vector control method for a tandem double-rotor unmanned aerial vehicle. The sliding mode controller is constructed and designed according to the dynamic model of the dual-rotor UAV; the acceleration of the dual-rotor UAV in the world coordinate system is obtained by processing according to the input expected position and desired speed of the dual-rotor UAV, and then calculated to The control amount of the actuator of the dual-rotor UAV is superimposed by the mixer to the control amount of the pitch channel and the yaw channel to obtain the output of the actuator of the dual-rotor UAV, and then the dual-rotor is controlled. Drone vector flight. The invention realizes the vector control by adopting the sliding mode control based on the virtual control quantity, the calculation of the virtual control quantity and the design of the mixer, and simplifies the complexity of the controller, and is easy to be deployed on the embedded terminal.

Figure 202110820343

Description

一种横列式双旋翼无人机矢量控制方法A vector control method for a tandem dual-rotor unmanned aerial vehicle

技术领域technical field

本发明涉及无人机领域的一种无人机飞行控制方法，尤其涉及一种横列式双旋翼无人机矢量控制方法。The invention relates to an unmanned aerial vehicle flight control method in the field of unmanned aerial vehicles, in particular to a vector control method of a tandem double-rotor unmanned aerial vehicle.

背景技术Background technique

横列式双旋翼无人机，主要用于战术运输、客运、医疗、搜救、农用植保等任务，主要优势在于其双旋翼无人机横向安置，机身的纵向体积减少，相对于四旋翼少了两个旋翼和电机少了两个旋翼的动力消耗，整体的消耗降低，续航能力更强，带来的直接好处是相同体积下其运载能力相较于传统的四旋翼有明显的提升，载重能力也更大。The horizontal double-rotor UAV is mainly used for tactical transportation, passenger transportation, medical treatment, search and rescue, agricultural plant protection and other tasks. The two rotors and motors reduce the power consumption of the two rotors, the overall consumption is reduced, and the endurance is stronger. Also bigger.

近年来，多旋翼飞行器在军事和民用领域得到了越来越广泛的应用，目前多旋翼飞行器以四旋翼、六旋翼结构为主，其旋翼无法实现倾转，推力方向固定，无法实现推力矢量控制。随着无人飞行器任务复杂度的提高，固定推力方向的多旋翼飞行器局限性也越来越大，而推力矢量控制对无人飞行器的机动性有非常关键的作用，横列式双旋翼无人机矢量飞行器作为一种新型无人机结构，具备续航时间长和固定翼结合实现垂直起降(vertical take-off and landing,VTOL)等优势，其飞行包线要大于固定翼和旋翼机，具备更大的飞行范围。In recent years, multi-rotor aircraft have been more and more widely used in the military and civilian fields. At present, multi-rotor aircraft are mainly composed of four-rotor and six-rotor structures. The rotors cannot be tilted, the thrust direction is fixed, and the thrust vector control cannot be realized. . With the increase in the complexity of UAV tasks, the limitations of multi-rotor aircraft with fixed thrust directions are also increasing, and thrust vector control plays a very critical role in the maneuverability of UAVs. As a new type of UAV structure, vector aircraft has the advantages of long battery life and vertical take-off and landing (VTOL) combined with fixed wings. Its flight envelope is larger than that of fixed wing and rotorcraft, and it has more advantages large flight range.

目前，双旋翼无人机的飞控算法非常复杂，不仅要考虑旋翼的控制，还要考虑舵机倾转等方面的特性，对飞控算法及其控制系统的要求远高于四旋翼。At present, the flight control algorithm of the dual-rotor UAV is very complex, not only the control of the rotor, but also the characteristics of the steering gear and other aspects should be considered. The requirements for the flight control algorithm and its control system are much higher than those of the quadrotor.

发明内容SUMMARY OF THE INVENTION

针对现有技术存在的问题，本发明提出一种横列式双旋翼无人机矢量控制方法。本发明通过采用基于虚拟控制量的滑模控制，虚拟控制量解算和混控器设计，实现了矢量控制(双旋翼无人机高度位置和俯仰通道位置控制)，并且简化了控制器的复杂度，易于在嵌入式端部署。In view of the problems existing in the prior art, the present invention proposes a vector control method for a tandem dual-rotor unmanned aerial vehicle. The present invention realizes vector control (dual-rotor UAV altitude position and pitch channel position control) by adopting sliding mode control based on virtual control quantity, virtual control quantity solution and mixer design, and simplifies the complexity of the controller degree, easy to deploy on the embedded side.

为了实现上述技术目的，如图1所示，本发明的技术方案为：In order to realize the above-mentioned technical purpose, as shown in Figure 1, the technical scheme of the present invention is:

方法包括以下步骤：The method includes the following steps:

1)根据双旋翼无人机的动力学模型构建设计滑模控制器；1) Build and design a sliding mode controller according to the dynamic model of the dual-rotor UAV;

2)滑模控制器根据输入的双旋翼无人机的期望位置和期望速度，处理获得双旋翼无人机在世界坐标系下x轴方向和z轴方向上的加速度ux、uz，然后将加速度ux、uz解算到双旋翼无人机的执行器的控制量，包括双旋翼无人机中舵机倾转的角度δ和双旋翼无人机的单个旋翼所产生的推力f，具体公式如下：2) The sliding mode controller processes and obtains the accelerations u x and u z of the dual-rotor UAV in the x-axis and z-axis directions in the world coordinate system according to the input desired position and desired speed of the dual-rotor UAV, and then Calculate the acceleration u x and u z to the control amount of the actuator of the dual-rotor drone, including the tilt angle δ of the steering gear in the dual-rotor drone and the thrust f generated by the single rotor of the dual-rotor drone , the specific formula is as follows:

Figure BDA0003171779740000021
Figure BDA0003171779740000021

δ＝-a-θδ=-a-θ

Figure BDA0003171779740000022
Figure BDA0003171779740000022

式中，δ表示双旋翼无人机中舵机倾转的角度，θ表示双旋翼无人机的俯仰角，a表示双旋翼无人机的所需推力F方向的倾转角度；f表示双旋翼无人机的单个旋翼所产生的推力；m表示双旋翼无人机的质量；In the formula, δ represents the tilt angle of the steering gear in the dual-rotor drone, θ represents the pitch angle of the dual-rotor drone, a represents the tilt angle of the required thrust F of the dual-rotor drone; f represents the dual-rotor drone. The thrust generated by a single rotor of the rotor UAV; m represents the mass of the dual-rotor UAV;

3)通过混控器将执行器的控制量δ和f叠加到俯仰通道和偏航通道的控制量得到双旋翼无人机的执行器的输出量δL,δR,fL,fR，进而控制双旋翼无人机矢量飞行，具体公式：3) The control variables δ and f of the actuator are superimposed on the control variables of the pitch channel and yaw channel through the mixer to obtain the output values of the actuators of the dual-rotor UAV δ L ,δ R ,f L ,f R , Then control the vector flight of the dual-rotor UAV, the specific formula:

δL＝δ+δψ δ L = δ+δ ψ

δR＝δ-δψ δ R = δ-δ ψ

fL＝f+fφ f L = f + f φ

fR＝f-fφ f R = ff φ

其中，δL,δR分别表示双旋翼无人机的两个旋翼上两舵机的倾斜角度，fL,fR分别表示双旋翼无人机的两旋翼所产生的推力，δψ表示偏航通道的舵机倾斜控制量，fφ表示横滚通道的旋翼推力的控制量。Among them, δ L , δ R represent the inclination angles of the two steering gears on the two rotors of the dual-rotor UAV, respectively, f L , f R represent the thrust generated by the two rotors of the dual-rotor drone, respectively, δ ψ represents the offset The control amount of the steering gear in the navigation channel, f φ represents the control amount of the rotor thrust in the roll channel.

所述的执行器包括了电机和舵机，电机布置在舵机的输出轴上，由舵机带动电机倾斜，执行器用于控制电机的转速和舵机带动电机倾斜的倾斜角度。The actuator includes a motor and a steering gear, the motor is arranged on the output shaft of the steering gear, and the steering gear drives the motor to tilt, and the actuator is used to control the rotational speed of the motor and the inclination angle at which the steering gear drives the motor to tilt.

所述1)中的滑模控制器具体为：The sliding mode controller in described 1) is specifically:

首先，按照以下公式构造滑模面：First, the sliding surface is constructed according to the following formula:

Figure BDA0003171779740000023
Figure BDA0003171779740000023

ex＝xd-xe x =x d -x

Figure BDA0003171779740000024
Figure BDA0003171779740000024

Figure BDA0003171779740000025
Figure BDA0003171779740000025

ez＝zd-ze z =z d -z

Figure BDA0003171779740000026
Figure BDA0003171779740000026

式中，sx、sz分别为沿x轴和z轴的滑模变量，xd、x分别表示双旋翼无人机在x轴上的期望位置和实际位置，

Figure BDA0003171779740000027
分别表示双旋翼无人机在x轴上的期望速度和实际速度，ex、
Figure BDA0003171779740000028
分别表示双旋翼无人机在x轴上的期望位置与实际位置之间偏差以及期望速度与实际速度之间偏差；zd、z分别表示双旋翼无人机在z轴上的期望位置和实际位置，
Figure BDA0003171779740000031
分别表示双旋翼无人机在z轴上的期望速度和实际速度，ez、
Figure BDA0003171779740000032
分别表示双旋翼无人机在z轴上的位置偏差和速度偏差；In the formula, s x and s z are the sliding mode variables along the x-axis and z-axis, respectively, and x d and x represent the desired position and actual position of the dual-rotor UAV on the x-axis, respectively,
Figure BDA0003171779740000027
respectively represent the expected speed and actual speed of the dual-rotor UAV on the x-axis, e x ,
Figure BDA0003171779740000028
respectively represent the deviation between the desired position and the actual position of the dual-rotor UAV on the x-axis and the deviation between the desired speed and the actual speed; z d and z represent the desired position and the actual speed of the dual-rotor UAV on the z-axis, respectively Location,
Figure BDA0003171779740000031
respectively represent the expected speed and actual speed of the dual-rotor UAV on the z-axis, e z ,
Figure BDA0003171779740000032
respectively represent the position deviation and speed deviation of the dual-rotor UAV on the z-axis;

然后设计滑模指数趋近律：Then design the sliding mode exponential reaching law:

Figure BDA0003171779740000033
Figure BDA0003171779740000033

式中，ε表示近滑模面s＝0的速率，k表示指数收敛系数，sgn为符号函数，s表示滑模变量；In the formula, ε represents the rate near the sliding mode surface s=0, k represents the exponential convergence coefficient, sgn is the sign function, and s represents the sliding mode variable;

结合上述滑模面和滑模指数趋近律的两式构建出以下滑模控制律：Combining the above two equations of sliding mode surface and sliding mode exponential reaching law, the following sliding mode control law is constructed:

Figure BDA0003171779740000034
Figure BDA0003171779740000034

Figure BDA0003171779740000035
Figure BDA0003171779740000035

Figure BDA0003171779740000036
Figure BDA0003171779740000036

Figure BDA0003171779740000037
Figure BDA0003171779740000037

Figure BDA0003171779740000038
Figure BDA0003171779740000038

Figure BDA0003171779740000039
Figure BDA0003171779740000039

其中，

Figure BDA00031717797400000314
分别表示沿x轴和z轴的滑模变量的导数，
Figure BDA00031717797400000311
表示双旋翼无人机在x轴和z轴上的期望加速度与实际加速度的偏差，
Figure BDA00031717797400000312
表示双旋翼无人机在x轴上期望加速度，
Figure BDA00031717797400000313
表示双旋翼无人机在z轴上期望加速度，ux表示双旋翼无人机在世界坐标系下x轴方向上的加速度，uz表示双旋翼无人机在世界坐标系下z轴方向上的加速度。in,
Figure BDA00031717797400000314
are the derivatives of the sliding mode variables along the x and z axes, respectively,
Figure BDA00031717797400000311
Represents the deviation between the expected acceleration and the actual acceleration of the dual-rotor UAV on the x-axis and z-axis,
Figure BDA00031717797400000312
represents the expected acceleration of the dual-rotor UAV on the x-axis,
Figure BDA00031717797400000313
Indicates the expected acceleration of the dual-rotor UAV on the z-axis, u x represents the acceleration of the dual-rotor UAV in the x-axis direction in the world coordinate system, and u z represents the dual-rotor UAV in the z-axis direction in the world coordinate system acceleration.

本发明首先建立虚拟控制量的控制模型，降低了滑模控制器的设计难度。而且利用控制模型信息来设计滑模控制，控制双旋翼无人机高度位置和俯仰通道位置。最后，通过虚拟控制量解算和混控器设计，来实现控制执行器控制量的输出。The invention firstly establishes the control model of the virtual control quantity, which reduces the design difficulty of the sliding mode controller. Moreover, the control model information is used to design sliding mode control to control the height position and pitch channel position of the dual-rotor UAV. Finally, through the calculation of virtual control quantity and the design of the mixer, the output of the control quantity of the control actuator is realized.

本发明建立世界坐标系，以双旋翼无人机之间的连线方向作为y轴方向，竖直重力向下作为z轴方向，同时垂直于y轴方向和z轴方向的方向为x轴方向。如图2所示，世界坐标系坐标系，xw、zw分别代表双旋翼无人机在世界坐标系下x轴方向和z轴方向。x轴方向和z轴方向的运动分别代表了俯仰和偏航运动。The present invention establishes a world coordinate system, and takes the direction of the connection between the dual-rotor UAVs as the y-axis direction, the vertical gravity downward as the z-axis direction, and the direction perpendicular to the y-axis direction and the z-axis direction as the x-axis direction. . As shown in Figure 2, in the coordinate system of the world coordinate system, x w and z w represent the x-axis direction and the z-axis direction of the dual-rotor UAV in the world coordinate system, respectively. Movements in the x-axis and z-axis directions represent pitch and yaw movements, respectively.

本发明采用上述技术方案带来的有益效果有：The present invention adopts the beneficial effects brought by the above-mentioned technical solutions as follows:

1、控制器框架简单，易于在嵌入式设备上进行部署。1. The controller framework is simple and easy to deploy on embedded devices.

2、使用虚拟控制量来进一步降低滑模控制器设计难度，更简单。2. Use the virtual control quantity to further reduce the design difficulty of the sliding mode controller, which is simpler.

3、使用滑模可以提高系统的抗扰特性。3. The use of sliding mode can improve the anti-disturbance characteristics of the system.

附图说明Description of drawings

图1是本发明流程示意图。Figure 1 is a schematic flow chart of the present invention.

图2是双旋翼无人机模型示意图。Figure 2 is a schematic diagram of a dual-rotor UAV model.

图3是双旋翼无人机飞行时示意图。Figure 3 is a schematic diagram of the dual-rotor UAV flying.

图4是双旋翼无人机x轴位置响应曲线图。Figure 4 is a graph of the x-axis position response curve of the dual-rotor UAV.

图5是双旋翼无人机z轴位置响应曲线图。Figure 5 is a graph of the z-axis position response curve of the dual-rotor UAV.

具体实施方式Detailed ways

下面结合说明书附图，对本发明的具体工作过程进一步详细说明。The specific working process of the present invention will be further described in detail below with reference to the accompanying drawings.

如图2所示，本发明实施的横列式双旋翼无人机与四旋翼最大的不同，执行器变成了两个旋翼和两个舵机。作为一种新型结构的无人机，横列式双旋翼无人机矢量飞行器稳定性较低，抗风扰能力较差，该飞行器的控制量分别为两个电机的转速和两个舵机的倾转角度，其控制策略也和普通多旋翼飞行器不同，偏航运动是由左右两个旋翼同时前后差动倾转控制，俯仰运动是由左右两个旋翼同时向前或向后倾转控制，滚转运动是由左右两个旋翼的转速差控制。As shown in FIG. 2 , the biggest difference between the tandem dual-rotor UAV and the quad-rotor implemented by the present invention is that the actuators become two rotors and two steering gears. As a new type of UAV, the tandem dual-rotor UAV vector aircraft has low stability and poor anti-wind disturbance ability. The control variables of the aircraft are the rotational speed of the two motors and the tilt of the two steering gears. The control strategy of the rotation angle is also different from that of ordinary multi-rotor aircraft. The yaw motion is controlled by the left and right rotors at the same time. The rotational movement is controlled by the difference in rotational speed between the left and right rotors.

本发明方法能够解决横列式双旋翼无人机矢量飞行器稳定性较低、抗风扰能力较差的技术问题，通过方法控制能够实现稳定飞行和较好的抗风能力。The method of the invention can solve the technical problems of low stability and poor anti-wind disturbance capability of the tandem double-rotor unmanned aerial vehicle vector aircraft, and can achieve stable flight and better wind resistance capability through method control.

本发明在世界坐标系下的x轴方向和z轴方向上，建立虚拟控制量的位置控制模型作为动力学模型：The present invention establishes the position control model of the virtual control quantity in the x-axis direction and the z-axis direction under the world coordinate system as the dynamic model:

Figure BDA0003171779740000041
Figure BDA0003171779740000041

Figure BDA0003171779740000042
Figure BDA0003171779740000042

Figure BDA0003171779740000043
Figure BDA0003171779740000043

Figure BDA0003171779740000044
Figure BDA0003171779740000044

其中，F表示双旋翼无人机的每个旋翼所需推力，m表示双旋翼无人机的质量；δ表示双旋翼无人机的舵机倾转角度；θ为双旋翼无人机的俯仰角度，ux、uz均为虚拟控制量，分别表示双旋翼无人机在世界坐标系下x轴方向和z轴方向上的加速度；g为重力加速度；

Figure BDA0003171779740000045
表示双旋翼无人机在x轴方向上的加速度，
Figure BDA0003171779740000046
表示双旋翼无人机在z轴方向上的双旋翼无人机加速度；dx和dz分别表示x轴和z轴方向上的扰动。Among them, F represents the thrust required by each rotor of the dual-rotor drone, m represents the mass of the dual-rotor drone; δ represents the tilt angle of the steering gear of the dual-rotor drone; θ is the pitch of the dual-rotor drone Angle, u x and u z are virtual control quantities, representing the acceleration of the dual-rotor UAV in the x-axis direction and the z-axis direction in the world coordinate system; g is the acceleration of gravity;
Figure BDA0003171779740000045
represents the acceleration of the dual-rotor UAV in the x-axis direction,
Figure BDA0003171779740000046
represents the acceleration of the dual-rotor drone in the z-axis direction; dx and dz represent the disturbances in the x -axis and z -axis directions, respectively.

本发明所设定的双旋翼无人机的俯仰角度θ、舵机倾转角度δ、旋翼所需推力F关系如图3所示，图3中可见双旋翼推力F方向是由俯仰角度θ和舵机倾转角度δ叠加而成。The relationship between the pitch angle θ, steering gear tilt angle δ, and rotor required thrust F of the dual-rotor UAV set by the present invention is shown in Figure 3. It can be seen in Figure 3 that the direction of the dual-rotor thrust F is determined by the pitch angle θ and the rotor. The steering gear tilt angle δ is superimposed.

如图1所示，本发明的实施例及其实施过程如下：As shown in Figure 1, an embodiment of the present invention and its implementation process are as follows:

1)根据双旋翼无人机的动力学模型构建设计滑模控制器；1) Build and design a sliding mode controller according to the dynamic model of the dual-rotor UAV;

1)中的滑模控制器具体为：The sliding mode controller in 1) is specifically:

首先，按照以下公式构造滑模面：First, the sliding surface is constructed according to the following formula:

Figure BDA0003171779740000051
Figure BDA0003171779740000051

ex＝xd-xe x =x d -x

Figure BDA0003171779740000052
Figure BDA0003171779740000052

Figure BDA0003171779740000053
Figure BDA0003171779740000053

ez＝zd-ze z =z d -z

Figure BDA0003171779740000054
Figure BDA0003171779740000054

式中，sx、sz分别为沿x轴和z轴的滑模变量，xd、x分别表示双旋翼无人机在x轴上的期望位置和实际位置，

Figure BDA0003171779740000055
分别表示双旋翼无人机在x轴上的期望速度和实际速度，ex、
Figure BDA0003171779740000056
分别表示双旋翼无人机在x轴上的期望位置与实际位置之间偏差以及期望速度与实际速度之间偏差；zd、z分别表示双旋翼无人机在z轴上的期望位置和实际位置，
Figure BDA0003171779740000057
分别表示双旋翼无人机在z轴上的期望速度和实际速度，ez、
Figure BDA0003171779740000058
分别表示双旋翼无人机在z轴上的位置偏差和速度偏差，位置偏差为期望位置与实际位置之间的偏差，速度偏差为期望速度与实际速度之间的偏差；In the formula, s x and s z are the sliding mode variables along the x-axis and z-axis, respectively, and x d and x represent the desired position and actual position of the dual-rotor UAV on the x-axis, respectively,
Figure BDA0003171779740000055
respectively represent the expected speed and actual speed of the dual-rotor UAV on the x-axis, e x ,
Figure BDA0003171779740000056
Respectively represent the deviation between the desired position and the actual position of the dual-rotor UAV on the x-axis and the deviation between the desired speed and the actual speed; zd and z represent the desired and actual position of the dual-rotor UAV on the z-axis, respectively. ,
Figure BDA0003171779740000057
respectively represent the expected speed and actual speed of the dual-rotor UAV on the z-axis, e z ,
Figure BDA0003171779740000058
respectively represent the position deviation and speed deviation of the dual-rotor UAV on the z-axis, the position deviation is the deviation between the expected position and the actual position, and the speed deviation is the deviation between the expected speed and the actual speed;

然后设计滑模指数趋近律：Then design the sliding mode exponential reaching law:

Figure BDA0003171779740000059
Figure BDA0003171779740000059

式中，ε表示近滑模面s＝0的速率，k表示指数收敛系数，sgn为符号函数，s表示滑模变量；In the formula, ε represents the rate near the sliding mode surface s=0, k represents the exponential convergence coefficient, sgn is the sign function, and s represents the sliding mode variable;

结合上述滑模面和滑模指数趋近律的两式构建出以下滑模控制律：Combining the above two equations of sliding mode surface and sliding mode exponential reaching law, the following sliding mode control law is constructed:

Figure BDA00031717797400000510
Figure BDA00031717797400000510

Figure BDA00031717797400000511
Figure BDA00031717797400000511

Figure BDA00031717797400000512
Figure BDA00031717797400000512

Figure BDA00031717797400000513
Figure BDA00031717797400000513

Figure BDA00031717797400000514
Figure BDA00031717797400000514

Figure BDA00031717797400000515
Figure BDA00031717797400000515

其中，

Figure BDA00031717797400000520
分别表示沿x轴和z轴的滑模变量的导数，
Figure BDA00031717797400000517
表示双旋翼无人机在x轴和z轴上的期望加速度与实际加速度的偏差，
Figure BDA00031717797400000518
表示双旋翼无人机在x轴上期望加速度，
Figure BDA00031717797400000519
表示双旋翼无人机在z轴上期望加速度，ux表示双旋翼无人机在世界坐标系下x轴方向上的加速度，uz表示双旋翼无人机在世界坐标系下z轴方向上的加速度。in,
Figure BDA00031717797400000520
are the derivatives of the sliding mode variables along the x and z axes, respectively,
Figure BDA00031717797400000517
Represents the deviation between the expected acceleration and the actual acceleration of the dual-rotor UAV on the x-axis and z-axis,
Figure BDA00031717797400000518
represents the expected acceleration of the dual-rotor UAV on the x-axis,
Figure BDA00031717797400000519
Indicates the expected acceleration of the dual-rotor UAV on the z-axis, u x represents the acceleration of the dual-rotor UAV in the x-axis direction in the world coordinate system, and u z represents the dual-rotor UAV in the z-axis direction in the world coordinate system acceleration.

2)滑模控制器根据输入的双旋翼无人机的期望位置和期望速度，实际位置和实际速度是通过双旋翼无人机内部的传感器采集能够获得，处理获得双旋翼无人机在世界坐标系下x轴方向和z轴方向上的加速度ux、uz，然后将加速度ux、uz解算到双旋翼无人机的执行器的控制量，包括双旋翼无人机中舵机倾转的角度δ和双旋翼无人机的单个旋翼所产生的推力f，具体公式如下：2) According to the input expected position and desired speed of the dual-rotor UAV, the sliding mode controller can obtain the actual position and actual speed through the sensor acquisition inside the dual-rotor UAV, and process the world coordinates of the dual-rotor UAV. Tie down the accelerations u x and u z in the x-axis and z-axis directions, and then calculate the accelerations u x and u z to the control quantities of the actuators of the dual-rotor drone, including the steering gear in the dual-rotor drone The tilt angle δ and the thrust f generated by a single rotor of the dual-rotor UAV are as follows:

Figure BDA0003171779740000061
Figure BDA0003171779740000061

δ＝-a-θδ=-a-θ

Figure BDA0003171779740000062
Figure BDA0003171779740000062

式中，δ表示双旋翼无人机中舵机倾转的角度，θ表示双旋翼无人机的俯仰角，a表示双旋翼无人机的所需推力F方向的倾转角度；f表示双旋翼无人机的单个旋翼所产生的推力；m表示双旋翼无人机的质量；In the formula, δ represents the tilt angle of the steering gear in the dual-rotor drone, θ represents the pitch angle of the dual-rotor drone, a represents the tilt angle of the required thrust F of the dual-rotor drone; f represents the dual-rotor drone. The thrust generated by a single rotor of the rotor UAV; m represents the mass of the dual-rotor UAV;

3)通过混控器将执行器的控制量δ和f叠加到俯仰通道和偏航通道所输出的控制量得到双旋翼无人机的执行器的输出量δL,δR,fL,fR，进而控制双旋翼无人机矢量飞行，具体公式：3) The control quantities δ and f of the actuators are superimposed on the control quantities output by the pitch channel and yaw channel through the mixer to obtain the output quantities δ L , δ R , f L , f of the actuators of the dual-rotor UAV R , and then control the vector flight of the dual-rotor UAV, the specific formula:

δL＝δ+δψ δ L = δ+δ ψ

δR＝δ-δψ δ R = δ-δ ψ

fL＝f+fφ f L = f + f φ

fR＝f-fφ f R = ff φ

其中，δL,δR分别表示双旋翼无人机的两个旋翼上两舵机的倾斜角度，fL,fR分别表示双旋翼无人机的两旋翼所产生的推力，δψ表示偏航通道的舵机倾斜控制量，fφ表示横滚通道的旋翼推力的控制量。Among them, δ L , δ R represent the inclination angles of the two steering gears on the two rotors of the dual-rotor UAV, respectively, f L , f R represent the thrust generated by the two rotors of the dual-rotor drone, respectively, δ ψ represents the offset The control amount of the steering gear in the navigation channel, f φ represents the control amount of the rotor thrust in the roll channel.

本发明方法为了验证可行性，借助Matlab进行仿真，同时加入了各种扰动来增加仿真的可信度。In order to verify the feasibility of the method of the invention, the simulation is carried out by means of Matlab, and various disturbances are added to increase the credibility of the simulation.

设定x轴期望位置1m,期望速度和加速度为0，具体经过Matlab仿真中加入一定量的扰动测试和采集获得双旋翼无人机x轴位置响应曲线，结果如图4所示，图4中可见显示双旋翼无人机稳定在所设定的x轴期望位置上。The desired x-axis position is set to 1m, and the desired velocity and acceleration are set to 0. Specifically, a certain amount of disturbance test and acquisition are added to the Matlab simulation to obtain the x-axis position response curve of the dual-rotor UAV. The results are shown in Figure 4. In Figure 4 It can be seen that the dual-rotor UAV is stable at the set desired x-axis position.

设定z轴期望位置3m,期望速度和加速度为0,具体经过Matlab仿真中加入一定量的扰动测试和采集获得双旋翼无人机z轴位置响应曲线，结果如图5所示，图5中可见显示双旋翼无人机稳定在所设定的z轴期望位置上The desired position of the z-axis is set to 3m, and the desired speed and acceleration are set to 0. Specifically, a certain amount of disturbance test and acquisition are added to the Matlab simulation to obtain the z-axis position response curve of the dual-rotor UAV. The results are shown in Figure 5. In Figure 5 It can be seen that the dual-rotor UAV is stable at the desired z-axis position.

验证了该矢量控制方法在双旋翼无人机控制上可行，且拥有良好鲁棒性和抗扰动的能力。It is verified that the vector control method is feasible in dual-rotor UAV control, and has good robustness and anti-disturbance ability.

Claims (2)

1. A vector control method for a transverse double-rotor unmanned aerial vehicle is characterized by comprising the following steps:
the method comprises the following steps:
1) constructing a design sliding mode controller according to a dynamic model of the dual-rotor unmanned aerial vehicle;
2) the sliding mode controller processes and obtains the acceleration u of the twin-rotor unmanned aerial vehicle in the x-axis direction and the z-axis direction under the world coordinate system according to the input expected position and the expected speed of the twin-rotor unmanned aerial vehiclex、uzThen the acceleration u is measuredx、uzThe control quantity of the actuator of the double-rotor unmanned aerial vehicle is solved, the angle d of tilting of the steering engine in the double-rotor unmanned aerial vehicle and the thrust f generated by a single rotor of the double-rotor unmanned aerial vehicle are included, and the specific formula is as follows:
Figure FDA0003637234920000011
d＝-a-θ
Figure FDA0003637234920000012
in the formula, d represents the tilting angle of a steering engine in the dual-rotor unmanned aerial vehicle, theta represents the pitch angle of the dual-rotor unmanned aerial vehicle, and a represents the tilting angle of the dual-rotor unmanned aerial vehicle in the direction of the required thrust F; f represents the thrust generated by a single rotor of a dual rotor drone; m represents the mass of the twin rotor drone;
3) the output quantity d of the actuator of the dual-rotor unmanned aerial vehicle is obtained by superposing the control quantity delta and f of the actuator to the control quantity of a pitching channel and a yawing channel through a mixer controllerL,dR,fL,fRAnd then control two rotor unmanned aerial vehicle vector flight, specific formula:
dL＝d+dy
dR＝d-dy
fL＝f+fφ
fR＝f-fφ
wherein, dL,dRRespectively representing the inclination angles, f, of two steering engines on two rotors of a twin-rotor unmanned aerial vehicleL,fRRespectively representing the thrust generated by the two rotors of a twin-rotor unmanned aerial vehicle, dyShows the steering gear tilt control amount of the yaw path, fφA control quantity indicative of a rotor thrust of the roll path;
the sliding mode controller in the step 1) is specifically as follows:
first, the slip-form surface is constructed according to the following formula:
Figure FDA0003637234920000013
ex＝xd-x
Figure FDA0003637234920000014
Figure FDA0003637234920000021
ez＝zd-z
Figure FDA0003637234920000022
in the formula, sx、szSliding mode variables along the x-axis and z-axis, xdAnd x respectively represent the expected position and the actual position of the dual-rotor unmanned plane on the x axis,
Figure FDA0003637234920000023
representing the desired and actual speed, e, respectively, of the twin-rotor drone in the x-axisx、
Figure FDA0003637234920000024
Respectively representing the deviation between the expected position and the actual position of the dual-rotor unmanned plane on the x axis and the deviation between the expected speed and the actual speed; z is a radical ofdZ respectively represent the desired and actual positions of the twin rotor drone in the z-axis,
Figure FDA0003637234920000025
respectively representing the desired and actual speed of the twin-rotor drone in the z-axis, ez、
Figure FDA0003637234920000026
Respectively representing the position deviation and the speed deviation of the dual-rotor unmanned aerial vehicle on the z axis;
then designing a sliding mode index approach law:
Figure FDA0003637234920000027
in the formula, e represents the speed of a near sliding mode surface s being 0, k represents an exponential convergence coefficient, sgn is a sign function, and s represents a sliding mode variable;
and (3) combining the sliding mode surface and the sliding mode index approach law to construct the following sliding mode control law:
Figure FDA0003637234920000028
Figure FDA0003637234920000029
Figure FDA00036372349200000210
Figure FDA00036372349200000211
Figure FDA00036372349200000212
Figure FDA00036372349200000213
wherein,
Figure FDA00036372349200000214
the derivatives of the sliding mode variables along the x-axis and z-axis respectively,
Figure FDA00036372349200000215
represents the deviation of the expected acceleration and the actual acceleration of the dual-rotor unmanned plane in the x axis and the z axis,
Figure FDA00036372349200000216
representing the desired acceleration of the twin rotor drone in the x axis,
Figure FDA00036372349200000217
representing the desired acceleration, u, of a twin rotor drone in the z-axisxRepresents the acceleration, u, of the twin-rotor unmanned aerial vehicle in the direction of the x-axis under the world coordinate systemzAnd the acceleration of the dual-rotor unmanned aerial vehicle in the z-axis direction under the world coordinate system is represented.
2. The vector control method of a tandem twin rotor drone of claim 1 wherein: the actuator comprises a motor and a steering engine, the motor is arranged on an output shaft of the steering engine, the steering engine drives the motor to incline, and the actuator is used for controlling the rotating speed of the motor and the inclination angle of the motor driven by the steering engine to incline.
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