CN114035601B - Tilt rotor unmanned aerial vehicle carrier landing method based on H infinite control - Google Patents
Tilt rotor unmanned aerial vehicle carrier landing method based on H infinite control Download PDFInfo
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Abstract
The invention discloses a method for landing a tilting rotor unmanned aerial vehicle based on H infinite control, which comprises the following steps: step 1, for a plurality of actuating mechanisms of the tilt rotor unmanned aerial vehicle, different actuating mechanisms are adopted to realize decoupling of each control loop in the control process; step 2, controlling the three-dimensional position of the machine body under the geographic system in the processX n , Y n ,Z n Three-dimensional speed under geographic systemV nx ,V ny ,V nz Angle of rollφAngle of pitchθYaw angleψAnd corresponding attitude angular velocityp,q,rAs control instructions, required control quantities are respectively calculated by each control loop and are respectively distributed to each motor and the steering engine, so that the control effects of body posture stabilization and trajectory tracking are realized; step 3, according to the control circuit of above-mentioned design, for rotor unmanned aerial vehicle verts has designed four H infinity state feedback controllers, is respectively: an attitude controller, a forward velocity position controller, a lateral velocity position controller, and a height controller.
Description
Technical Field
The invention relates to the field of carrier landing of unmanned aerial vehicles, in particular to a carrier landing method of a tilt rotor unmanned aerial vehicle based on H infinite (∞) control.
Background
The tilt rotor unmanned aerial vehicle is an aircraft with unique performance, and combines the characteristics of a rotor aircraft and a fixed-wing aircraft simultaneously. Under rotor mode, tiltrotor unmanned aerial vehicle has characteristics such as but VTOL (VTOL), hover in the air and low altitude cruise. And in addition, compare in traditional rotor unmanned aerial vehicle, rotatory rotor unmanned aerial vehicle still has the ability that high load and long-time high-speed cruise. Technical characteristics different from traditional aircraft for rotor unmanned aerial vehicle verts has received the important attention of aviation world. The method is widely applied to military reconnaissance, unmanned aerial photography, the agricultural field and the search and rescue aspect, and has wide application prospect.
Due to the characteristic of vertical take-off and landing, the aircraft is often used as an aircraft carrier by naval force. The wind field on the sea surface is complex and changeable, and meanwhile, a ship domain flow field can be generated near a ship, so that great interference is caused to the ship landing process of the carrier-based aircraft. Compared with a land-based landing aircraft, the landing range of the carrier-based aircraft is smaller, and the position error, particularly the lateral position error, in the landing process easily causes the crash of the carrier-based aircraft. Therefore, need to model to the external disturbance that the aircraft unmanned aerial vehicle that verts receives among the landing process to interference model design unmanned aerial vehicle's control scheme, full play verts the structural advantage of unmanned aerial vehicle, realize the suppression to wind field interference, in order to ensure the security of unmanned aerial vehicle landing process. Because the tilt rotor unmanned aerial vehicle is provided with the rotor, the fixed wing and the plurality of actuating mechanisms at the same time, in the flying process of the tilt rotor unmanned aerial vehicle, the different actuating mechanisms can interfere with each other, so that the actual control model and the reference model have a little deviation; meanwhile, the wind field model is derived from statistical data, and the wind field model and the actual wind field situation may have a large error, so that uncertainty of the system model and interference of the external environment bring difficulty to carrier landing control of the tilt rotor unmanned aerial vehicle.
Disclosure of Invention
In order to fully utilize the advantages of the tilt rotor unmanned aerial vehicle, inhibit the influence of uncertainty of a system model and interference of an external environment while carrying out landing control on the tilt rotor unmanned aerial vehicle, the invention provides a landing method of the tilt rotor unmanned aerial vehicle based on H-infinity control.
The technical scheme adopted by the invention is as follows: the utility model provides a tilt rotor unmanned aerial vehicle method of landing a ship based on H infinite control, this tilt rotor unmanned aerial vehicle adopts the whole layout structure that the wing body fuses, and three sets of rotors provide flight power jointly, adopt many actuating mechanisms to control tilt rotor unmanned aerial vehicle and land a ship, include following step:
a. a roll angle/lateral speed position control loop controlled by differential tension of the main rotor;
b. a pitch angle control loop controlled by tail rotor tension;
c. the course angle control loop is controlled by the differential tilting of the main rotor steering engine;
d. a forward speed position control loop is controlled by the main rotor steering engine to synchronously tilt;
e. and the height control loop is jointly controlled by the tension of the three rotors.
step 3, according to the control circuit of above-mentioned design, for rotor unmanned aerial vehicle verts has designed four H infinity state feedback controllers, is respectively: an attitude controller, a forward velocity position controller, a lateral velocity position controller, and a height controller.
Further, adopt many actuating mechanism's rotor unmanned aerial vehicle that verts to land on the warship design, the unmanned aerial vehicle structure adopts the overall layout that the wing body fuses, and three sets of rotors provide flight power jointly, have the characteristics of VTOL, at the descending in-process, can provide lift to keep the gesture stable.
Secondly, landing control of the tilt rotor unmanned aerial vehicle based on an H-infinity control method is adopted, the attitude and the position of the unmanned aerial vehicle are controlled, the influence of external disturbance such as wake flow is inhibited, and the landing precision is high.
Further, the unmanned aerial vehicle that verts has adopted the overall layout that the wing body fuses structurally, and three sets of rotors provide the scheme of flight power jointly. The two main motors are positioned at the tail ends of the wings and are connected with the wings through the tilting mechanisms, so that the front and back tilting of the motors and the rotors can be realized, and the tilting angle can reach 100 degrees; a ducted fan motor is equipped with to unmanned aerial vehicle afterbody, when providing lift for unmanned aerial vehicle, produces pitching moment and keeps unmanned aerial vehicle's gesture steady.
Further, this rotor unmanned aerial vehicle verts can use the rotor mode to descend at the landing in-process, and the unmanned aerial vehicle aileron does not play the control effect this moment. In the landing process, the rolling, pitching and course postures are kept stable; the lateral speed position is kept stable by adjusting the roll angle, and the forward and vertical speed positions are controlled by instructions to track the preset landing track.
Furthermore, according to the control circuit of above design, for tiltrotor unmanned aerial vehicle has designed four H infinity state feedback control wares. Respectively as follows: attitude controllers (including roll, pitch, and heading attitude), forward speed position controllers, lateral speed position controllers, and altitude controllers. The design steps of each H infinity state feedback controller are as follows:
(1) attitude controller
The attitude angular acceleration expression of rotor unmanned aerial vehicle verts under external disturbance is after simplifying:
wherein,
，
，
；(x r ,y r ,z r ),(x l ,y l ,z l ),(x b ,y b ,z b ) Position vectors of three motors are respectively obtained;DM x ，DM y ，DM z the component of the external disturbance moment in the body coordinate system,T r0，T l0，T b0the three motor pulling forces are respectively under the hovering state.
Therefore, an unmanned aerial vehicle attitude angle control state space equation can be established:
wherein,
wherein,zis a controlled output of the system and is,c 1～c 9are weighting parameters. The external interference can be calculatedwTo the system outputzThe transfer function of (c):
by optimizing the infinite norm of the transfer function so that
Wherein
for the least positive number, the inequality is converted into a Linear Matrix Inequality (LMI) for solving, and the converted equation is as follows:
solving the equation can obtain the attitude controllerK=wx -1。
(2) Lateral speed controller
Under the state of hovering, when there is external interference, when the roll angle is in the change of minizone, unmanned aerial vehicle lateral acceleration expression can simplify and write:
wherein,T rlb is the resultant force of three motor pulling forces in a hovering state, i.e.T rlb =T r0+T l0+T b0；mFor unmanned aerial vehicle quality. Thus, a lateral position control state space equation can be established:
wherein,
(3) Forward speed controller
Similar to the lateral position controller, forward acceleration can be expressed in simplified terms as:
the state space equation can thus be derived:
wherein,
(4) Height controller
The altitude controller controls through the three rotor pulling forces of synchronous control, and vertical acceleration can write as:
the state space equation can thus be derived:
wherein,
According to the design of the H-infinity state feedback controller, when the H-infinity controller is adopted for landing control of the tilt rotor unmanned aerial vehicle, accurate control quantity can be controlled and output under external interference such as wake flow and the like, and the landing precision is high.
Compared with the prior art, the invention has the beneficial effects that:
(1) full play verts rotor unmanned aerial vehicle structural advantage, to verting rotor unmanned aerial vehicle's complicated many actuating mechanism, has carried out accurate analysis and decoupling zero to control circuit has been designed.
(2) An H-infinity state feedback controller is adopted in a control loop, so that the influence of external interference on a carrier landing process is inhibited, and the carrier landing precision and robustness of the unmanned aerial vehicle are improved.
(3) In the whole carrier landing control process, the attitude stability and the track tracking capability of the tilt rotor unmanned aerial vehicle are improved.
After the functions are added into the traditional tilt rotor unmanned aerial vehicle, the landing method of the tilt rotor unmanned aerial vehicle can inhibit interference and track the preset track in the landing process, and has high landing control precision and strong robustness.
Drawings
FIG. 1 is a block diagram of a roll angle/lateral velocity position control loop;
FIG. 2 is a view of a pitch angle control loop;
FIG. 3 is a schematic diagram of a course angle control loop;
FIG. 4 is a diagram of a forward speed position control loop;
FIG. 5 is a diagram of a height control loop;
FIG. 6 is a graph of height step response results;
FIG. 7 is a graphical representation of an attitude step response result;
FIG. 8 shows the unmanned aerial vehicle landing position error results;
fig. 9 shows the result of the attitude simulation.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments, and all other embodiments obtained by a person skilled in the art based on the embodiments of the present invention belong to the protection scope of the present invention without creative efforts.
At first, the rotor mode can be used at the landing of a ship in-process to the rotor unmanned aerial vehicle that verts descends, and the unmanned aerial vehicle aileron does not play the control effect this moment, consequently fixes at the zero-bit. In the landing process, the rolling, pitching and course postures are kept stable; the lateral speed position is kept stable by adjusting the roll angle, and the forward and vertical speed positions are controlled by instructions to track the preset landing track.
Because rotor unmanned aerial vehicle verts has a plurality of actuating mechanism, adopts different actuating mechanism can realize each control circuit's decoupling zero in control process. Wherein the roll angle is coupled to the lateral acceleration to produce an edge when the body has a positive roll angleYAcceleration of the shaft in the forward direction causes a change in lateral velocity position. Due to structural limitations of the droneYForce and moment can be generated only through differential motion of main motor tension in the axial direction, and therefore the lateral speed position of the unmanned aerial vehicle is controlled through controlling the roll angle. Pitch angle is coupled to forward speed position, and when the body has a positive pitch angle, an edge is generatedXAcceleration in the negative direction of the shaft causes a change in the forward velocity position. Can be controlled by respectively adopting the tension of the tail motor and the tilting of the main motor steering engine. There is no significant coupling between vertical acceleration and heading angle.
Secondly, according to the unmanned aerial vehicle decoupling result that verts, can design following five control circuit:
(1) roll angle/lateral velocity position control loop
And a roll angle lateral position loop controls a roll angle through main rotor tension differential motion, and further realizes the control of a lateral speed position. The inner and outer ring control mode is adopted, the roll angle control loop is an inner loop, and the speed position control loop is an outer loop.
(2) Pitch angle control loop
The pitch angle control loop is controlled by adjusting the tension of the tail motor.
(3) Course angle control loop
The tail rotor motor used in the invention has small residual control allowance besides providing lift force and pitching moment, so the course angle is controlled by selecting a main rotor steering engine differential tilting mode.
(4) Forward velocity position control loop
Forward speed position control circuit realizes the control to forward speed position through the synchronous angle of verting of control main rotor steering wheel.
(5) Height control loop
Height/vertical speed position control loop realizes unmanned aerial vehicle's altitude mixture control through the pulling force value of three rotor of simultaneous control.
The position of the machine body under the geographic system in the control schemeX n ,Y n ,Z n Speed, velocityV nx ,V ny ,V nz Attitude angleφ,θ,ψAnd attitude angular velocityp,q,rAs a control command, a required control amount is calculated by each control circuit: amount of tension change of main motorT rl Angle of inclination should be changedA rl The amount of change of the tension of the tail motorT b Main angle of tiltA rl And the control quantities are respectively distributed to the motors and the steering engine, so that the control effects of body posture stabilization and trajectory tracking are realized.
Finally, according to the control loop designed above, four H-infinity state feedback controllers can be designed for the tilt rotor unmanned aerial vehicle. Respectively as follows: attitude controllers (including roll, pitch, and heading attitude), forward speed position controllers, lateral speed position controllers, and altitude controllers. The roll angle/lateral speed position control loop comprises an H-infinity speed position controller and an H-infinity roll angle controller, the pitch angle control loop comprises an H-infinity pitch angle controller, the course angle control loop comprises an H-infinity course angle controller, the forward speed position control loop comprises an H-infinity forward speed controller, and the height control loop comprises an H-infinity height controller. The design steps of each H ∞ controller are as follows:
(1) attitude controller
The attitude angular acceleration expression of the tilt rotor unmanned aerial vehicle under external interference is as follows:
wherein,
，
，
；
(x r ,y r ,z r ),(x l ,y l ,z l ),(x b ,y b ,z b ) Are respectively asPosition vectors of three motors, namely a right main motor, a left main motor and a tail motor;DM x ，DM y ，DM z is the component of the external disturbance moment in each coordinate system of the machine body. One point above the letter indicates the first derivative and two points indicate the second derivative,T r ，T l ，T b are respectively the actual tension of the three motors,I xx ，I yy andI zz respectively are three-direction inertia main shaft rotational inertia,I xz is the product of inertia in the X and Z axes;M x 、M y 、M z the representative machine is an external torque.
According to the above control loop, defineA r =∆A rl ，A l =－∆A rl ，T r =T r0+∆T rl ，T l =T l0－∆T rl ，T b =T b0－∆T b WhereinT r0，T l0，T b0the motor pulling forces of the right motor, the left motor and the tail motor in the hovering state are respectively. Because under the rotor mode, the steering wheel tilt angle of rotor about in unmanned aerial vehicle's the control process can be adjusted by a small margin near vertical state, consequently can regard assinA=A，cosAAnd = 1. Under this assumption, equations (1) to (3) can be simplified as:
therefore, an unmanned aerial vehicle attitude angle control state space equation can be established:
wherein,
wherein,zis the controlled output of the system and is used for evaluating the control performance of the H-infinity controller.c 1～c 9In order to be a weighting parameter, the weighting parameter,I xz is a bodyxAndzthe product of the inertia between the shafts is,O m n×representsm×nThe zero matrix of (a) is,I n n×representsn×nThe identity matrix of (2). The performance of the H ∞ controller is optimized by adjusting the parameters.
To find a state feedback controller
To stabilize the unmanned aerial vehicle systemThen, the external interference can be calculatedwTo the system outputzThe transfer function of (c):
by optimizing the infinite norm of the transfer function so that
Wherein
for the least positive number, the inequality is converted into a Linear Matrix Inequality (LMI) for solving, and the converted equation is as follows:
solving the equation can obtain the attitude controllerK=wx -1。
(2) Lateral speed position controller
From the control loop, the lateral position control is coupled to the roll angle control. Thus, the output of the lateral velocity position controller is the roll angle
. According to equations (2) and (11), in the hovering state, when there is external interference, the unmanned aerial vehicle lateral acceleration expression can be written as:
wherein,T rlb is the resultant force of three motor pulling forces in a hovering state, i.e.T rlb =T r0+T l0+T b0；mFor unmanned aerial vehicle quality. In the unmanned aerial vehicle control process, the roll angle is in a small rangeChange, therefore, can be considered as
. The acceleration expression is simplified as:
thus, a lateral position control state space equation can be established:
wherein,
(3) Forward velocity position controller
Synchronous tilting angle of main motor steering engine is adjusted in forward speed position control similar to lateral position controllerA rl To perform the control. Consider thatsinA rl =A rl The forward acceleration can be expressed in simplified form as:
the state space equation can thus be derived:
wherein,
(4) Height controller
The altitude controller controls through the three rotor pulling forces of synchronous control, and vertical acceleration can write as:
the state space equation can thus be derived:
wherein,
According to the design of the H-infinity state feedback controller, the H-infinity controller is adopted in a control loop, so that the interference of external environments such as shipboard wake control and the like when the unmanned aerial vehicle lands on a ship can be inhibited, and the stability and the robustness of landing on the ship are improved.
FIG. 1 is a diagram of a roll angle/lateral velocity position control loop including a roll angle controller, a velocity position controller, and a six-degree-of-freedom kinematics model of an unmanned aerial vehicle, wherein,Y nc ,V nyc ,φ c ,p c the control amount, which is a preset instruction, is a control amount determined at the time of the trajectory design,φ u an instruction roll angle calculated for the controllerT rl Calculating the obtained tension differential value of the main rotor for the controller;mthe mass of the unmanned aerial vehicle is the mass of the unmanned aerial vehicle,T rlb the three rotors are in combined tension in a hovering state;
respectively the roll angle acceleration, roll angle speed and roll angle of the unmanned aerial vehicle;a y ,V ny ,Y n lateral acceleration, lateral velocity and lateral position of the unmanned aerial vehicle respectively.
Fig. 2 is a diagram of a pitch angle control loop, including a pitch angle controller and a six-degree-of-freedom kinematics model of an unmanned aerial vehicle, wherein,
is preset command ΔT b Calculated tails for controllerThe amount of variation in rotor tension;
the pitch angle acceleration, the pitch angle speed and the pitch angle of the unmanned aerial vehicle are respectively.
FIG. 3 is a schematic diagram of a course angle control loop including a course angle controller and a six-degree-of-freedom dynamic model of an unmanned aerial vehicle, wherein,ψ c ,r c is at presetA rl Calculating a tilt angle differential value of the main rotor steering engine for the controller;
respectively is the course angular acceleration, the course angular velocity and the course angle of the unmanned aerial vehicle.
Fig. 4 is a diagram of a forward velocity position control loop including a forward velocity controller and a six-degree-of-freedom kinematics model of an unmanned aerial vehicle, wherein,X nc ,V nxc in the form of a preset command, the command is,A rl calculating a synchronous tilt angle of the main rotor steering engine for the controller;a x , V nx ,X n respectively for unmanned aerial vehicle's preceding acceleration, preceding speed and preceding position.
Fig. 5 is a diagram of a height control loop including a height controller and a six degree of freedom kinematics model of an unmanned aerial vehicle, wherein,Z nc ,V nzc in the form of a preset command, the command is,F zb the resultant force variation of the three rotors calculated by the controller is distributed to the three motors according to the structure of the unmanned aerial vehicle;a z ,V nz ,Z n vertical acceleration, vertical speed and height of unmanned aerial vehicle respectively.
FIG. 6 shows the results of the height step response. It can be seen that in the step response simulation of the tilt rotor unmanned aerial vehicle, the H ∞ controller can realize the fast response and stable control of the height of the unmanned aerial vehicle.
FIG. 7 shows the results of the attitude step response. It can be seen that, in the step response simulation of the tilt rotor unmanned aerial vehicle, the roll angle, the pitch angle and the course angle can both respond quickly and finally realize stability by utilizing the H infinity controller.
Fig. 8 shows the unmanned aerial vehicle landing position error result. In order to fit reality, an interference model is set in simulation to be that sea surface real-time wind power is fifth-level wind, and the wind speed reaches 9.4 m/s; the unmanned aerial vehicle is close to the carrier from the back of the carrier to land on the carrier, and the wind power of the deck of the carrier reaches 20m/s at the moment; aircraft carrier pitch amplitudeθ s Set to 0.02, aircraft carrier pitch frequency
Set to 0.62. As can be seen from the figure, the position deviation of the actual carrier landing track and the preset track is very small, which shows that the H-infinity controller designed by the invention has better track tracking capability.
Fig. 9 shows the result of the attitude simulation. As can be seen from the figure, in the process of simulating carrier landing, the course angle is basically unchanged, and the roll angle and the pitch angle are changed at small angles, which shows that the H-infinity controller designed by the invention has good attitude stability.
The invention has the advantages that: the tilting rotor unmanned aerial vehicle has the advantages that the structural advantages of the tilting rotor unmanned aerial vehicle are fully utilized, the H-infinity controller is adopted to control the landing of the tilting rotor unmanned aerial vehicle, external interference such as ship-making wake flow is inhibited, the landing of the unmanned aerial vehicle has better control precision and robustness, and the simulation result chart can be seen from the attached drawing of the specification
Portions of the invention not disclosed in detail are well within the skill of the art.
Although illustrative embodiments of the present invention have been described above to facilitate the understanding of the present invention by those skilled in the art, it should be understood that the present invention is not limited to the scope of the embodiments, and various changes may be made apparent to those skilled in the art as long as they are within the spirit and scope of the present invention as defined and defined by the appended claims, and all matters of the invention which utilize the inventive concepts are protected.
Claims (2)
1. The utility model provides a rotor unmanned aerial vehicle that verts method of landing a ship based on H infinite control, this rotor unmanned aerial vehicle that verts adopt the whole layout structure that the wing body fuses, and three sets of rotors provide flight power jointly, adopt many actuating mechanism control rotor unmanned aerial vehicle that verts to land a ship, its characterized in that includes following step:
step 1, for a plurality of actuating mechanisms that tilt rotor unmanned aerial vehicle has, adopt different actuating mechanisms to realize the decoupling of each control circuit in the control process, control circuit specifically designs as follows:
a. a roll angle/lateral speed position control loop controlled by differential tension of the main rotor;
b. a pitch angle control loop controlled by tail rotor tension;
c. the course angle control loop is controlled by the differential tilting of the main rotor steering engine;
d. a forward speed position control loop which is controlled by the main rotor steering engine by synchronous tilting;
e. the height control loop is jointly controlled by the tension of the three rotors;
the two main motors are positioned at the tail ends of the wings and are connected with the wings through the tilting mechanism, so that the motors and the rotors can tilt forwards and backwards, and the tilting angle can reach 100 degrees; the tail part of the unmanned aerial vehicle is provided with a ducted fan motor, so that the unmanned aerial vehicle can provide lift force and generate pitching moment to keep the attitude of the unmanned aerial vehicle stable;
the tilt rotor unmanned aerial vehicle adopts a rotor mode to land in the landing process, the ailerons of the unmanned aerial vehicle do not play a role in control at the moment, and the rolling, pitching and heading postures are kept stable in the landing process; the lateral speed position is kept stable by adjusting a roll angle, and the forward and vertical speed positions are controlled by an instruction to track a preset landing track;
step 2, controlling the three-dimensional position of the machine body under the geographic system in the processX n ,Y n ,Z n Three-dimensional speed under geographic systemV nx ,V ny , V nz Angle of rollφAngle of pitchθYaw angleψAnd corresponding attitude angular velocityp,q,rAs a control command, the subscript n indicates the geography system, and the required control quantity including the pulling force variation of the main motor is calculated by each control loopT rl Amount of change of main tilt angleA rl The amount of change of the tension of the tail motorT b Main angle of tiltA rl Respectively distributing each control quantity to each motor and each steering engine to realize the control effect on the posture stability and the track tracking of the machine body;
step 3, according to the control circuit of above-mentioned design, for rotor unmanned aerial vehicle verts has designed four H infinity state feedback controllers, is respectively: an attitude controller, a forward speed position controller, a lateral speed position controller and a height controller;
step 3, for rotor unmanned aerial vehicle that verts has designed four H infinity state feedback controllers, wherein attitude controller designs as follows:
(x r ,y r ,z r ),(x l ,y l ,z l ),(x b ,y b ,z b ) Position vectors of a right main motor, a left main motor and a tail motor are respectively;DM x ，DM y ，DM z the component of the external disturbance moment in the body coordinate system,T r0，T l0，T b0are respectively the pulling forces of three motors under the hovering state,T r ，T l ，T b are respectively the actual tension of the three motors,I xx ，I yy andI zz respectively are three-direction inertia main shaft rotational inertia,I xz is the product of inertia in the X and Z axes; one point above the letter indicates the first derivative and two points indicate the second derivative,I xz is the product of inertia in the X and Z axes;M x 、M y 、M z under the representative machine systemExternal resultant force moment;
therefore, an unmanned aerial vehicle attitude angle control state space equation is established:
wherein,
wherein,zis a controlled output of the system and is,c 1～c 9for weighting the parameters, the external interference is calculatedwTo the system outputzThe transfer function of (c):
by optimizing the infinite norm of the transfer function so that
Wherein
for positive numbers, the inequalities are converted into linear matrix inequalities for solving, and the converted equations are as follows:
solving equation to obtain attitude controllerK=wx -1；
Step 3, for tiltrotor unmanned aerial vehicle has designed four H infinity state feedback controllers, wherein lateral speed controller specifically designs as follows:
under the state of hovering, when external interference exists, when the roll angle is in-3 to 3 degrees changes, the expression simplification of the lateral acceleration of the unmanned aerial vehicle is written as:
wherein,T rlb is the resultant force of three motor pulling forces in a hovering state, i.e.T rlb =T r0+T l0+T b0；mThe mass of the unmanned aerial vehicle is the mass of the unmanned aerial vehicle,T r0，T l0，T b0the left motor, the right motor and the tail motor are respectively in a hovering state; therefore, a lateral position control state space equation is established:
wherein,
, w a =D a F y , 
, 
, 
,
,
, 
, D a11 =O 2×1, 
, y a =x a , C a2 =I 2×2, D a21=O 2×1, D a22=O 2×1
wherein
For roll angle command, the lateral speed controller is obtained by solving the linear matrix inequality LMIK y ，I xz Is a bodyxAndzthe product of the inertia between the shafts is,O m n×representsm×nThe zero matrix of (a) is,I n n×representsn×nThe identity matrix of (1);
step 3, for tiltrotor unmanned aerial vehicle has designed four H infinity state feedback controllers, wherein the simplified expression of forward acceleration is:
the state space equation is thus obtained:
wherein,
,w b =D b F x , u b =A rl ,
,
, 
, 
, 
, D b11=O 2×1, 
, y b =x b , C b2 =I 2×2, D b21=O 2×1, D b22=O 2×1；DF x , DF y , DF z the external is a component of the external interference force under a body coordinate system;
forward speed controller obtained by solving linear matrix inequality LMIK x ；
Step 3, for rotor unmanned aerial vehicle that verts has designed four H infinity state feedback controllers, wherein the altitude controller specifically designs as follows:
the altitude controller controls through the three rotor pulling forces of synchronous control, and vertical acceleration is write:
the state space equation is thus obtained:
wherein,
,w c =D c F z ,u c =F z ,
, 
, 
, 
, 
, D c11=O 2×1, 
, y c =x c , C c2 =I 2×2, D c21=O 2×1, D c22=O 2×1whereinF zb The vertical acceleration of the machine body is taken as the reference; obtaining a height controller by solving a linear matrix inequality LMIK z 。
2. The landing method of the tilt rotor unmanned aerial vehicle based on the H-infinity control as claimed in claim 1, wherein the landing method comprises the following steps: according to the design of the H-infinity state feedback controller, when the H-infinity controller is adopted in the landing control of the tilt rotor unmanned aerial vehicle, accurate control quantity is controlled and output under the external interference of wake flow and the like.
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