CN114967724A - Target surrounding anti-interference control method for quad-rotor unmanned aerial vehicle - Google Patents
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Abstract
The invention relates to a target surrounding anti-interference control method for a quad-rotor unmanned aerial vehicle, which comprises the steps of firstly, constructing a relative kinematic equation of corresponding coordinates between the quad-rotor unmanned aerial vehicle and a moving target, namely a target tracking basic model of the quad-rotor unmanned aerial vehicle; then constructing an error dynamic equation between the speed component and the speed navigation vector of the quad-rotor unmanned aerial vehicle; then, an extended state disturbance observer is adopted to carry out accurate and efficient real-time estimation on target acceleration information and lumped disturbance suffered by the quad-rotor unmanned aerial vehicle, and a quad-rotor unmanned aerial vehicle track loop target surrounding tracking dynamic feedback controller is constructed according to the target acceleration information and the lumped disturbance; finally, constructing a four-rotor unmanned aerial vehicle attitude loop anti-interference controller based on a robust integral control technology; the whole design method is an unmanned aerial vehicle surrounding control strategy which has good anti-interference performance and can be quickly converged, and the maneuvering target can be continuously and stably tracked under the condition that target acceleration information cannot be accurately acquired and external environment interference exists.
Description
Technical Field
The invention relates to a target surrounding anti-interference control method for a quad-rotor unmanned aerial vehicle, and belongs to the technical field of unmanned aerial vehicle target tracking.
Background
In recent years, due to the continuous development and perfection of the unmanned aerial vehicle technology, the application of the unmanned aerial vehicle in the military and civil fields gradually matures. The quad-rotor unmanned aerial vehicle uses the target as the centre of a circle, uses predetermined relative distance as the radius to fly around the target interest point, can carry out all-round multi-angle's information acquisition to the target. The flight mode has a plurality of application scenes in real life, for example, the flight mode can be used for three-dimensional fine modeling of buildings in the field of oblique photography, can continuously detect areas possibly having life signs in disaster rescue, and can be used for continuously tracking suspicious people and high-speed running vehicles in the aspects of social security and security.
The traditional target tracking method of the quad-rotor unmanned aerial vehicle has some technical problems: (1) some target surrounding control methods for quad-rotor unmanned aerial vehicles send remote control instructions through ground control personnel or utilize a ground station to preset a flight path so as to realize target surrounding tracking control, and the methods lack certain autonomous intelligence and easily cause the problems of air crash and deviation of unmanned aerial vehicle air routes due to error of operators because the heading and the speed of the unmanned aerial vehicle frequently change and the map positioning information of the ground station is not accurate; (2) some approaches do not take into account the environmental disturbances that a quad-rotor drone may encounter during target-surround procedures, which are a non-negligible problem for a drone to perform fine target-surround tasks.
Disclosure of Invention
The invention aims to solve the technical problem of providing a target surrounding anti-interference control method for a quad-rotor unmanned aerial vehicle, which adopts a brand-new design and can continuously and stably track a maneuvering target under the conditions that target acceleration information cannot be accurately acquired and external environment interference exists.
The invention adopts the following technical scheme for solving the technical problems: the invention designs a target surrounding anti-interference control method for a quad-rotor unmanned aerial vehicle, which comprises the following steps A to E, and an anti-interference controller of a posture loop of the quad-rotor unmanned aerial vehicle is obtained and is used for realizing surrounding tracking of the quad-rotor unmanned aerial vehicle on a moving target;
step A, according to a four-rotor unmanned aerial vehicle motion/dynamics model, a relative kinematics equation of corresponding coordinates between the four-rotor unmanned aerial vehicle and a moving target is constructed, namely a four-rotor unmanned aerial vehicle target tracking basic model, and then the step B is carried out;
b, constructing an error dynamic equation between the speed component and the speed navigation vector of the quad-rotor unmanned aerial vehicle according to a target tracking basic model of the quad-rotor unmanned aerial vehicle and by combining a vector field basic principle, and then entering the step C;
c, constructing an extended state observer corresponding to the error dynamic equation and an extended state observer corresponding to the trajectory loop model of the quad-rotor unmanned aerial vehicle, and then entering the step D;
d, according to an error dynamic equation, combining observation information of each extended state observer, constructing a four-rotor unmanned aerial vehicle track loop target surrounding tracking dynamic feedback controller based on a speed navigation vector, and then entering the step E;
and E, constructing a four-rotor unmanned aerial vehicle attitude loop anti-interference controller based on a robust integral control technology according to the target surrounding tracking dynamic feedback controller of the four-rotor unmanned aerial vehicle trajectory loop.
As a preferred technical solution of the present invention, the step a includes the following steps;
step A1, constructing a four-rotor unmanned aerial vehicle motion/dynamics model as follows:
wherein X P ＝[X P,1 ,X P,2 ,X P,3 ] T And X v ＝[X v,1 ,X v,2 ,X v,3 ] T Are respectively four-rotor unmanned aerial vehicle in an inertial coordinate system O e X e Y e Z e Position vector and velocity vector, X Θ ＝[X Θ,1 ,X Θ,2 ,X Θ,3 ] T And X ω ＝[X ω，1 ,X ω，2 ,X ω，3 ] T Are four rotor unmanned aerial vehicle respectively in organism coordinate system o B x B y B z B A lower attitude angle vector and an angular velocity vector;
represent the virtual control input of the corresponding speed of four rotor unmanned aerial vehicle position developments, wherein, m is four rotor unmanned aerial vehicle's quality, and G ═ 0,0, mg] T Is a gravity matrix, g is the acceleration of gravity;
g 1 ＝[cos(X Θ，3 )sin(X Θ，2 )cos(X Θ，1 )+sin(X Θ，3 )sin(X Θ，1 ),sin(X Θ，3 )sin(X Θ，2 )cos(X Θ,1 )-cos(X Θ,3 )sin(X Θ,1 ),cos(X Θ，2 )cos(X Θ，1 )] T the position input matrix of the quad-rotor unmanned aerial vehicle related to the attitude motion is obtained; u. of 1 Indicates the total lift of the four rotor unmanned aerial vehicle propellers, U ω ＝[u 2 ,u 3 ,u 4 ] T Is a four-rotor unmanned aerial vehicle's moment, u 1 、u 2 、u 3 、u 4 Relationships with control input signals respectively: u. of 1 ＝F 1 +F 2 +F 3 +F 4 ，
u 3 ＝J θ (lF 2 -lF 4 )，u 4 ＝J ψ (-cF 1 +cF 2 -cF 3 +cF 4 ) Wherein l and c are respectively the distance from the center of mass of the quad-rotor unmanned aerial vehicle to the propeller motor and the moment coefficient, F 1 、F 2 、F 3 、F 4 The four-rotor unmanned aerial vehicle is respectively provided with lifting forces of four propellers; f. of v (X v )＝-Π 1 X v M and f ω (X ω )＝-J -1 Π 2 X ω The speed and the angular speed of the four-rotor unmanned aerial vehicle respectively correspond to the aerodynamic coefficientNon-accurately obtainable parameterized uncertainty term of degree, Π 1 、Π 2 Respectively presetting air damping matrixes of a position loop and an attitude loop of the quadrotor unmanned aerial vehicle,
in order to define the diagonal inertia matrix positively,
J θ 、J ψ respectively, the four-rotor unmanned plane is in a body coordinate system o B x B y B z B Moment of inertia, Δ, for roll, pitch, yaw motions v ＝[Δ v1 ,Δ v2 ,Δ v3 ] T And Δ ω ＝[Δ ω1 ,Δ ω2 ,Δ ω3 ] T Bounded environment interference on a position ring and an attitude ring corresponding to the quad-rotor unmanned aerial vehicle under a three-dimensional coordinate is respectively caused;
step A2, according to the four-rotor unmanned aerial vehicle in an inertial coordinate system O e X e Y e Z e Position vector X in P ＝[X P,1 ,X P,2 ,X P,3 ] T Combined with moving object in inertial coordinate system O e X e Y e Z e Position vector X in tP ＝[X P,t1 ,X P,t2 ,X P,t3 ] T And constructing the relative distance of corresponding coordinates between the quad-rotor unmanned aerial vehicle and the moving target
Step A3, constructing position deviation of corresponding coordinates between the quad-rotor unmanned aerial vehicle and the moving target
Step A4, constructing a relative kinematics equation of corresponding coordinates between the quad-rotor unmanned aerial vehicle and the moving target
Namely a four-rotor unmanned aerial vehicle target tracking basic model.
As a preferred embodiment of the present invention, the step B includes the following steps;
step B1, aiming at a relative kinematic equation of corresponding coordinates between the quad-rotor unmanned aerial vehicle and a moving target
Derivation, construction
Step B2, constructing a speed navigation vector sigma as follows:
where ζ is the desired surrounding radius between the quad-rotor drone and the moving target, μ is a preset positive adjustable parameter, k v,3 A controller gain for a quad-rotor unmanned aerial vehicle velocity ring height component; x v,t3 For moving objects in an inertial frame O e X e Y e Z e The velocity in the middle corresponding to the z direction, χ is a preset correction factor χ and the moving target position vector X tP The relationship of (a) to (b) is as follows:
wherein the content of the first and second substances,
step B3, constructing the error between the speed component and the speed navigation vector sigma of the quad-rotor unmanned aerial vehicle
Step B4. is directed to the error s derivation, constructing an error dynamic equation between the velocity component and the velocity navigation vector σ for the quad-rotor drone
Wherein, F v ＝[F v,1 ,F v,2 ,F v,3 ] T Virtual control input, F, representing the dynamic corresponding speed of the quad-rotor drone position v,1 、F v,2 、F v,3 Respectively are the virtual control input of the corresponding speed of the quadrotor unmanned aerial vehicle in the directions of x, y and z of a coordinate system,
the acceleration vector of the moving target corresponding to the x, y and z directions of the coordinate system is obtained.
As a preferred embodiment of the present invention, the step C includes the following steps;
c1, using the acceleration vector corresponding to the moving target in the x, y and z directions of the coordinate system
Z as an added state variable to the state observer, and defining the first derivative of this state variable
The extended state equation for the error dynamics equation is constructed as follows:
step C2. constructs an extended state observer for the error dynamic equation from the extended state equation for the error dynamic equation as follows:
wherein the content of the first and second substances,
respectively are the observed values of the error s and the state variable Z,
the preset bandwidth of the extended state observer for the error dynamic equation is a preset positive real number which is larger than zero;
step C3. is based on the bounded environmental disturbance Δ in three-dimensional coordinates of the quad-rotor drone relative position ring v State variable X added as trajectory loop of quad-rotor unmanned aerial vehicle η And defining the first derivative of the state variable
The expansion state equation of the trajectory loop of the quad-rotor unmanned aerial vehicle is constructed as follows:
and C4, constructing an extended state observer aiming at the trajectory loop of the quad-rotor unmanned aerial vehicle according to the extended state equation of the trajectory loop of the quad-rotor unmanned aerial vehicle, wherein the extended state observer is as follows:
wherein the content of the first and second substances,
are respectively four rotor unmanned aerial vehicle position vectors X p Four rotor unmanned aerial vehicle velocity vector X v State variable X η Observation value of σ η The method is a preset bandwidth of an extended state observer of a four-rotor unmanned aerial vehicle track loop and is a preset positive real number larger than zero.
As a preferred technical solution of the present invention, in step D, according to an error dynamic equation, in combination with observation information of each extended state observer, a trajectory loop target surrounding tracking dynamic feedback controller of the quad-rotor unmanned aerial vehicle based on the velocity navigation vector is constructed according to the following steps D1 to D4;
step D1, establishing virtual control input of dynamic corresponding speed of position of quad-rotor unmanned aerial vehicle
Wherein k is p ＝diag(k p,1 ,k p,2 ,k p,3 ) Represents the four-rotor unmanned aerial vehicle trajectory loop controller gain matrix, k p,1 、k p,2 、k p,3 The four-rotor unmanned aerial vehicle position loop component corresponds to the adjustable gain of the controller in each direction of the coordinate system, f v (X v ) The method is a parameterized uncertainty item which cannot be accurately obtained in the aerodynamic coefficient of the quad-rotor unmanned aerial vehicle;
step D2. constructs a virtual control input F for the dynamic corresponding velocity of the quad-rotor drone position v Total lift u of size and four rotor unmanned aerial vehicle propellers 1 The following relationship is satisfied:
wherein u is 1 Representing the total lift of the propellers of a quad-rotor drone,
θ d 、ψ d respectively representing the expected roll angle, the expected pitch angle and the expected yaw angle of the quad-rotor unmanned aerial vehicle generated by the speed loop control signal;
step D3. setting the yaw angle psi based on the operator d And then the total lift u of the propeller of the quad-rotor unmanned aerial vehicle 1 And desired roll angle
Desired pitch angle θ d The following were used:
step D4. generating a vector of desired roll, pitch, and yaw angles for the quad-rotor drone based on the speed loop control signal
Construction of four-rotor unmanned aerial vehicle attitude angle tracking error vector
As a preferred embodiment of the present invention, the step E includes the following steps;
step E1, tracking error vector e according to attitude angle of quad-rotor unmanned aerial vehicle Θ And constructing corresponding angular velocity tracking error vector of quad-rotor unmanned aerial vehicle
Wherein the content of the first and second substances,
is an intermediate variable, k Θ ＝diag(k Θ,1 ,k Θ,2 ,k Θ,3 ) Representing the four-rotor unmanned aerial vehicle attitude angle controller gain matrix, k Θ,1 、k Θ,2 、k Θ,3 The attitude angles of the four-rotor unmanned aerial vehicle correspond to the adjustable gains of the controller in each direction of a coordinate system respectively;
step E2, tracking error vector e according to corresponding angular velocity of quad-rotor unmanned aerial vehicle ω Building an auxiliary function
Wherein k is ω ＝diag(k ω,1 ,k ω,2 ,k ω,3 ) Represents the four-rotor unmanned aerial vehicle angular velocity controller gain matrix, k ω,1 、k ω,2 、k ω,3 The angular speed of the quad-rotor unmanned aerial vehicle corresponds to the adjustable gain of the controller in each direction of the coordinate system;
step E3. needleUnfolding the auxiliary function xi to obtain
Then, constructing a four-rotor unmanned aerial vehicle attitude loop anti-interference controller as follows:
U ω ＝U ω1 +U ω2 +U ω3 ,
U ω2 ＝-k ω e ω -k Ξ e ω ,
wherein k is Ξ ＝diag(k Ξ,1 ,k Ξ,2 ,k Ξ,3 ) Is a positive robust feedback gain matrix, the robust integral gain delta is an adjustable parameter larger than zero, xi is an integral variable, U ω Is a four-rotor unmanned aerial vehicle attitude loop controller, U ω1 For model compensation terms in the controller, U ω2 For linear feedback terms, U ω3 Is a non-linear robust term.
Compared with the prior art, the target surrounding anti-interference control method for the quad-rotor unmanned aerial vehicle has the following technical effects:
the invention designs a method for controlling the target surrounding anti-interference of a quadrotor unmanned aerial vehicle, which comprises the steps of firstly constructing a relative kinematic equation of corresponding coordinates between the quadrotor unmanned aerial vehicle and a moving target, namely a target tracking basic model of the quadrotor unmanned aerial vehicle; then constructing an error dynamic equation between the speed component and the speed navigation vector of the quad-rotor unmanned aerial vehicle; then, an extended state disturbance observer is adopted to carry out accurate and efficient real-time estimation on target acceleration information and lumped disturbance suffered by the quad-rotor unmanned aerial vehicle, and a quad-rotor unmanned aerial vehicle track loop target surrounding tracking dynamic feedback controller is constructed according to the target acceleration information and the lumped disturbance; finally, constructing a four-rotor unmanned aerial vehicle attitude loop anti-interference controller based on a robust integral control technology; the whole design method is an unmanned aerial vehicle surrounding control strategy which has good anti-interference performance and can be quickly converged, and the maneuvering target can be continuously and stably tracked under the condition that target acceleration information cannot be accurately acquired and external environment interference exists.
Drawings
FIG. 1 is a flow chart of a target-surrounding anti-interference control method for a quad-rotor unmanned aerial vehicle according to the invention;
FIG. 2 is a schematic diagram of a target tracking three-dimensional trajectory of a quad-rotor unmanned aerial vehicle in an inertial coordinate system;
FIG. 3 is a schematic diagram of a target tracking X-Y plane trajectory of a quad-rotor unmanned aerial vehicle in an inertial coordinate system;
fig. 4 is a schematic diagram of the relative distance between a quad-rotor drone and a target.
Detailed Description
The following description will explain embodiments of the present invention in further detail with reference to the accompanying drawings.
The invention designs a target surrounding anti-interference control method for a quad-rotor unmanned aerial vehicle, which is practically applied, as shown in fig. 1, specifically designed and executed with the following steps A to E to obtain an attitude loop anti-interference controller for the quad-rotor unmanned aerial vehicle, and used for realizing the surrounding tracking of the quad-rotor unmanned aerial vehicle on a moving target.
And step A, according to the motion/dynamics model of the quad-rotor unmanned aerial vehicle, constructing a relative kinematics equation of corresponding coordinates between the quad-rotor unmanned aerial vehicle and a moving target, namely a target tracking basic model of the quad-rotor unmanned aerial vehicle, and then entering step B.
In practical applications, the step a is executed as the following step a1 to step a4.
Step A1, constructing a four-rotor unmanned aerial vehicle motion/dynamics model as follows:
wherein, X P ＝[X P,1 ,X P,2 ,X P,3 ] T And X v ＝[X v,1 ,X v,2 ,X v,3 ] T Are respectively four-rotor unmanned aerial vehicle in an inertial coordinate system O e X e Y e Z e Position vector and velocity vector, X Θ ＝[X Θ,1 ,X Θ,2 ,X Θ,3 ] T And X ω ＝[X ω，1 ,X ω，2 ,X ω，3 ] T Are four rotor unmanned aerial vehicle respectively in organism coordinate system o B x B y B z B A lower attitude angle vector and an angular velocity vector;
represent the virtual control input of the corresponding speed of four rotor unmanned aerial vehicle position developments, wherein, m is four rotor unmanned aerial vehicle's quality, and G ═ 0,0, mg] T Is the gravity matrix and g is the acceleration of gravity.
g 1 ＝[cos(X Θ，3 )sin(X Θ，2 )cos(X Θ，1 )+sin(X Θ，3 )sin(X Θ，1 ),sin(X Θ，3 )sin(X Θ，2 )cos(X Θ,1 )-cos(X Θ,3 )sin(X Θ,1 ),cos(X Θ，2 )cos(X Θ，1 )] T The position input matrix of the quad-rotor unmanned aerial vehicle related to the attitude motion is obtained; u. of 1 Indicates the total lift of the four rotor unmanned aerial vehicle propellers, U ω ＝[u 2 ,u 3 ,u 4 ] T Is a four-rotor unmanned aerial vehicle's moment, u 1 、u 2 、u 3 、u 4 Relationships with control input signals respectively: u. of 1 ＝F 1 +F 2 +F 3 +F 4 ，
u 3 ＝J θ (lF 2 -lF 4 )，u 4 ＝J ψ (-cF 1 +cF 2 -cF 3 +cF 4 ) Wherein l and c are respectively the distance from the center of mass of the quad-rotor unmanned aerial vehicle to the propeller motor and the moment coefficient, F 1 、F 2 、F 3 、F 4 Four helixes of quad-rotor unmanned aerial vehicle respectivelyThe lift of the paddle; f. of v (X v )＝-Π 1 X v M and f ω (X ω )＝-J -1 Π 2 X ω Is an imprecisely obtainable parameterized uncertainty term, Π, in the aerodynamic coefficients corresponding to the speed and angular velocity of the quad-rotor drone, respectively 1 、Π 2 Respectively presetting air damping matrixes of a position loop and an attitude loop of the quadrotor unmanned aerial vehicle,
in order to positively define the diagonal inertia matrix,
J θ 、J ψ respectively, the four-rotor unmanned plane is in a body coordinate system o B x B y B z B Moment of inertia, Δ, for roll, pitch, yaw motions v ＝[Δ v1 ,Δ v2 ,Δ v3 ] T And Δ ω ＝[Δ ω1 ,Δ ω2 ,Δ ω3 ] T The four-rotor unmanned aerial vehicle is characterized in that bounded environment interference is received by a position ring and an attitude ring corresponding to the four-rotor unmanned aerial vehicle under a three-dimensional coordinate.
Step A2, according to the four-rotor unmanned aerial vehicle in an inertial coordinate system O e X e Y e Z e Position vector X in P ＝[X P,1 ,X P,2 ,X P,3 ] T Combined with moving object in inertial coordinate system O e X e Y e Z e Position vector X in tP ＝[X P,t1 ,X P,t2 ,X P,t3 ] T And constructing the relative distance of corresponding coordinates between the quad-rotor unmanned aerial vehicle and the moving target
Step A3, constructing the position deviation of the corresponding coordinates between the quad-rotor unmanned aerial vehicle and the moving target
Step A4, constructing a relative kinematics equation of corresponding coordinates between the quad-rotor unmanned aerial vehicle and the moving target
Namely a four-rotor unmanned aerial vehicle target tracking basic model.
And B, constructing an error dynamic equation between the speed component and the speed navigation vector of the quad-rotor unmanned aerial vehicle according to a target tracking basic model of the quad-rotor unmanned aerial vehicle and by combining a vector field constructed by using a Lyapunov stability principle, and then entering the step C.
In practical applications, the step B specifically executes the following steps B1 to B4.
Step B1, aiming at a relative kinematic equation of corresponding coordinates between the quad-rotor unmanned aerial vehicle and a moving target
Derivation, construction
Step B2, constructing a speed navigation vector sigma as follows:
where ζ is the desired surrounding radius between the quad-rotor drone and the moving target, μ is a preset positive adjustable parameter, k v,3 A controller gain for a quad-rotor unmanned aerial vehicle velocity loop height component; x v,t3 For moving objects in an inertial frame O e X e Y e Z e The velocity in the middle corresponding to the z direction, χ is a preset correction factor χ and the moving target position vector X tP The relationship of (a) to (b) is as follows:
wherein，
Step B3, constructing the error between the speed component and the speed navigation vector sigma of the quad-rotor unmanned aerial vehicle
Step B4. is directed to the error s derivation, constructing an error dynamic equation between the velocity component and the velocity navigation vector σ for the quad-rotor drone
Wherein, F v ＝[F v,1 ,F v,2 ,F v,3 ] T Virtual control input, F, representing the dynamic corresponding speed of the quad-rotor drone position v,1 、F v,2 、F v,3 Respectively are the virtual control input of the corresponding speed of the quadrotor unmanned aerial vehicle in the directions of x, y and z of a coordinate system,
the acceleration vector of the moving target corresponding to the x, y and z directions of the coordinate system is obtained.
And C, constructing an extended state observer corresponding to the error dynamic equation, constructing an extended state observer corresponding to the trajectory loop model of the quad-rotor unmanned aerial vehicle, and entering the step D.
In practical applications, the step C includes the following steps C1 to C4.
Step C1, corresponding acceleration vectors of the moving target in the directions of x, y and z of a coordinate system
Z as an added state variable to the state observer, and defining the first derivative of the state variable
The extended state equation for the error dynamics equation is constructed as follows:
step C2. constructs an extended state observer for the error dynamic equation from the extended state equation for the error dynamic equation as follows:
wherein the content of the first and second substances,
respectively are the observed values of the error s and the state variable Z,
the preset bandwidth of the extended state observer for the error dynamic equation is a positive real number preset to be greater than zero.
Step C3. is based on the bounded environmental disturbance Δ in three-dimensional coordinates of the quad-rotor drone relative position ring v State variable X added as trajectory loop of quad-rotor unmanned aerial vehicle η And defining the first derivative of the state variable
The expansion state equation of the trajectory loop of the quad-rotor unmanned aerial vehicle is constructed as follows:
and C4, constructing an extended state observer aiming at the trajectory loop of the quad-rotor unmanned aerial vehicle according to the extended state equation of the trajectory loop of the quad-rotor unmanned aerial vehicle, wherein the extended state observer is as follows:
wherein the content of the first and second substances,
are respectively four rotor unmanned aerial vehicle position vectors X p Four rotor unmanned aerial vehicle velocity vector X v State variable X η Observation value of σ η The method is a preset bandwidth of an extended state observer of a four-rotor unmanned aerial vehicle track loop and is a preset positive real number larger than zero.
And D, according to an error dynamic equation and by combining observation information of each extended state observer, constructing a target surrounding tracking dynamic feedback controller of the four-rotor unmanned aerial vehicle track loop based on the speed navigation vector, and then entering the step E.
In practical application, according to an error dynamic equation and observation information of each extended state observer, the target surrounding tracking dynamic feedback controller of the four-rotor unmanned aerial vehicle trajectory loop based on the speed navigation vector is constructed according to the following steps D1 to D4.
D1, establishing virtual control input of position dynamic corresponding speed of quad-rotor unmanned aerial vehicle
Wherein k is p ＝diag(k p,1 ,k p,2 ,k p,3 ) Represents the four-rotor unmanned aerial vehicle trajectory loop controller gain matrix, k p,1 、k p,2 、k p,3 The four-rotor unmanned aerial vehicle position loop component corresponds to the adjustable gain, f, of the controller in each direction of the coordinate system v (X v ) The method is a parameterized uncertainty term which cannot be accurately obtained in aerodynamic coefficients of the quad-rotor unmanned aerial vehicle.
Step D2. constructs a virtual control input F for the dynamic corresponding velocity of the quad-rotor drone position v Total lift u of size and four rotor unmanned aerial vehicle propellers 1 The following relationship is satisfied:
wherein u is 1 Representing the total lift of the propellers of a quad-rotor drone,
θ d 、ψ d respectively representing a desired roll angle, a desired pitch angle, and a desired yaw angle of the quad-rotor drone resulting from the speed loop control signal.
Step D3. setting the yaw angle psi based on the operator d And then the total lift u of the propeller of the quad-rotor unmanned aerial vehicle 1 And desired roll angle
Desired pitch angle θ d The following:
step D4. generates a vector of desired roll angle, desired pitch angle, and desired yaw angle for the quad-rotor drone based on the speed loop control signal
Constructing attitude angle tracking error vector of quad-rotor unmanned aerial vehicle
And E, constructing a four-rotor unmanned aerial vehicle attitude loop anti-interference controller based on a robust integral control technology according to the target surrounding tracking dynamic feedback controller of the four-rotor unmanned aerial vehicle trajectory loop.
In practical applications, the step E specifically includes the following steps E1 to E3.
Step E1, tracking error vector e according to attitude angle of quad-rotor unmanned aerial vehicle Θ And constructing corresponding angular velocity tracking error vector of quad-rotor unmanned aerial vehicle
Wherein the content of the first and second substances,
is an intermediate variable, k Θ ＝diag(k Θ,1 ,k Θ,2 ,k Θ,3 ) Representing the four-rotor unmanned aerial vehicle attitude angle controller gain matrix, k Θ,1 、k Θ,2 、k Θ,3 The attitude angles of the quad-rotor unmanned aerial vehicle correspond to the adjustable gains of the controller in each direction of the coordinate system respectively.
Step E2, tracking error vector e according to corresponding angular velocity of quad-rotor unmanned aerial vehicle ω Building an auxiliary function
Wherein k is ω ＝diag(k ω,1 ,k ω,2 ,k ω,3 ) Represents the four-rotor unmanned aerial vehicle angular velocity controller gain matrix, k ω,1 、k ω,2 、k ω,3 The angular speed of the quad-rotor unmanned aerial vehicle corresponds to the adjustable gain of the controller in each direction of the coordinate system.
Step E3. unfolding for the auxiliary function xi, obtaining
Then, constructing a four-rotor unmanned aerial vehicle attitude loop anti-interference controller as follows:
U ω ＝U ω1 +U ω2 +U ω3 ,
U ω2 ＝-k ω e ω -k Ξ e ω ,
wherein k is Ξ ＝diag(k Ξ,1 ,k Ξ,2 ,k Ξ,3 ) Is a positive robust feedback gain matrix, the robust integral gain delta is an adjustable parameter larger than zero, xi is an integral variable, U ω Is a four-rotor unmanned aerial vehicle attitude loop controller, U ω1 For model compensation terms in the controller, U ω2 For linear feedback terms, U ω3 Is a non-linear robust term.
The designed target surrounding anti-interference control method of the quad-rotor unmanned aerial vehicle is applied to the reality, and the initial position and the speed state of the quad-rotor unmanned aerial vehicle are as follows:
[X p,1 ,X p,2 ,X p,3 ,X v,1 ,X v,2 ,X v,3 ] T ＝[-2,5,0,0,0,0] T
the motion trail of the tracked target is as follows:
X tP ＝[X P,t1 ,X P,t2 ,X P,t3 ] T ＝[1.5t,(0.1t-20),5] T
setting external disturbance:
Δ v (t)＝[2sin(t)cos(t),2cos(0.5t),2sin(t)cos(t)] T N·m
Δ ω (t)＝[0.3sin(0.5t),0.3cos(0.5t),0.3sin(0.5t)cos(0.5t)] T N·m
in order to obtain better controller performance, an error dynamic equation is selected to expand the bandwidth of the state observer
Track loop extended state observer bandwidth sigma η 7, four rotor unmanned aerial vehicle orbit loop controller gain k p ＝diag(k p,1 ,k p,2 ,k p,3 ) Two (2,2,2), speed loop height component controller gain k in quad-rotor drone trajectory loop v,3 1.5, 6 is the adjustable parameter mu, 6 is the surrounding radius zeta, and four-rotor unmanned aerial vehicle attitude angle controller gain k Θ ＝diag(k Θ,1 ,k Θ,2 ,k Θ,3 ) Biag (30,30,30), quad-rotor drone angular velocity controller gain k ω ＝diag{k ω1 ,k ω2 ,k ω3 Diag {5,5,5}, robust feedback gain k Ξ ＝diag(k Ξ,1 ,k Ξ,2 ,k Ξ,3 ) 1, the robust integral gain δ is diag {0.1,0.1,0.1 }; based on this in practical application, carry out above-mentioned step A to step E in proper order, obtain four rotor unmanned aerial vehicle gesture return circuit anti-interference controller for realize four rotor unmanned aerial vehicle to moving target's encircleing tracking, in practical application, the three-dimensional orbit of four rotor unmanned aerial vehicle target tracking under the inertial coordinate system is illustrated in fig. 2, the orbit of four rotor unmanned aerial vehicle target tracking X-Y plane under the inertial coordinate system is illustrated in fig. 3, and the relative distance between four rotor unmanned aerial vehicle and the target is illustrated in fig. 4.
According to the technical scheme, the target surrounding anti-interference control method for the quad-rotor unmanned aerial vehicle is designed, and firstly, a relative kinematic equation of corresponding coordinates between the quad-rotor unmanned aerial vehicle and a moving target is constructed, namely a target tracking basic model of the quad-rotor unmanned aerial vehicle; then constructing an error dynamic equation between the speed component and the speed navigation vector of the quad-rotor unmanned aerial vehicle; then, an extended state disturbance observer is adopted to carry out accurate and efficient real-time estimation on target acceleration information and lumped disturbance suffered by the quad-rotor unmanned aerial vehicle, and a quad-rotor unmanned aerial vehicle track loop target surrounding tracking dynamic feedback controller is constructed according to the target acceleration information and the lumped disturbance; finally, constructing a four-rotor unmanned aerial vehicle attitude loop anti-interference controller based on a robust integral control technology; the whole design method is an unmanned aerial vehicle surrounding control strategy which has good anti-interference performance and can be quickly converged, and the maneuvering target can be continuously and stably tracked under the condition that target acceleration information cannot be accurately acquired and external environment interference exists.
The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.
Claims (6)
1. The target surrounding anti-interference control method for the quad-rotor unmanned aerial vehicle is characterized by comprising the following steps of: executing the following steps A to E to obtain an anti-interference controller of a posture loop of the quad-rotor unmanned aerial vehicle, wherein the anti-interference controller is used for realizing the surrounding tracking of the quad-rotor unmanned aerial vehicle on a moving target;
step A, according to a four-rotor unmanned aerial vehicle motion/dynamics model, a relative kinematics equation of corresponding coordinates between the four-rotor unmanned aerial vehicle and a moving target is constructed, namely a four-rotor unmanned aerial vehicle target tracking basic model, and then the step B is carried out;
b, constructing an error dynamic equation between the speed component and the speed navigation vector of the quad-rotor unmanned aerial vehicle according to a target tracking basic model of the quad-rotor unmanned aerial vehicle and by combining a vector field basic principle, and then entering the step C;
c, constructing an extended state observer corresponding to the error dynamic equation and an extended state observer corresponding to the trajectory loop model of the quad-rotor unmanned aerial vehicle, and then entering the step D;
d, according to an error dynamic equation, combining observation information of each extended state observer, constructing a four-rotor unmanned aerial vehicle track loop target surrounding tracking dynamic feedback controller based on a speed navigation vector, and then entering the step E;
and E, constructing a four-rotor unmanned aerial vehicle attitude loop anti-interference controller based on a robust integral control technology according to the target surrounding tracking dynamic feedback controller of the four-rotor unmanned aerial vehicle trajectory loop.
2. The method for target-surround anti-jamming control of a quad-rotor unmanned aerial vehicle according to claim 1, wherein step a comprises the steps of;
step A1, constructing a four-rotor unmanned aerial vehicle motion/dynamics model as follows:
wherein, X P ＝[X P,1 ,X P,2 ,X P,3 ] T And X v ＝[X v,1 ,X v,2 ,X v,3 ] T Are respectively four-rotor unmanned aerial vehicle in an inertial coordinate system O e X e Y e Z e Position vector and velocity vector in，X Θ ＝[X Θ,1 ,X Θ,2 ,X Θ,3 ] T And X ω ＝[X ω，1 ,X ω，2 ,X ω，3 ] T Are four rotor unmanned aerial vehicle respectively in organism coordinate system o B x B y B z B A lower attitude angle vector and an angular velocity vector;
represent the virtual control input of the corresponding speed of four rotor unmanned aerial vehicle position developments, wherein, m is four rotor unmanned aerial vehicle's quality, and G ═ 0,0, mg] T Is a gravity matrix, g is the gravitational acceleration;
g 1 ＝[cos(X Θ，3 )sin(X Θ，2 )cos(X Θ，1 )+sin(X Θ，3 )sin(X Θ，1 ),sin(X Θ，3 )sin(X Θ，2 )cos(X Θ,1 )-cos(X Θ,3 )sin(X Θ,1 ),cos(X Θ，2 )cos(X Θ，1 )] T the position input matrix of the quad-rotor unmanned aerial vehicle related to the attitude motion is obtained; u. of 1 Indicates the total lift of the four rotor unmanned aerial vehicle propellers, U ω ＝[u 2 ,u 3 ,u 4 ] T Is a four-rotor unmanned aerial vehicle's moment, u 1 、u 2 、u 3 、u 4 Relationships with control input signals, respectively: u. of 1 ＝F 1 +F 2 +F 3 +F 4 ，
u 3 ＝J θ (lF 2 -lF 4 )，u 4 ＝J ψ (-cF 1 +cF 2 -cF 3 +cF 4 ) Wherein l and c are respectively the distance from the center of mass of the quad-rotor unmanned aerial vehicle to the propeller motor and the moment coefficient, F 1 、F 2 、F 3 、F 4 The four-rotor unmanned aerial vehicle is respectively provided with lifting forces of four propellers; f. of v (X v )＝-Π 1 X v M and f ω (X ω )＝-J -1 Π 2 X ω Is a pneumatic systemThe number corresponds to the non-accurately obtainable parameterized uncertainty term, Π, of the speed and angular velocity of the quad-rotor drone, respectively 1 、Π 2 Air damping matrixes of position loops and attitude loops of the quad-rotor unmanned aerial vehicle are preset respectively,
in order to define the diagonal inertia matrix positively,
J θ 、J ψ respectively, the four-rotor unmanned plane is in a body coordinate system o B x B y B z B Moment of inertia, Δ, for roll, pitch, yaw motions v ＝[Δ v1 ,Δ v2 ,Δ v3 ] T And Δ ω ＝[Δ ω1 ,Δ ω2 ,Δ ω3 ] T Bounded environment interference on a position ring and an attitude ring corresponding to the quad-rotor unmanned aerial vehicle under three-dimensional coordinates is respectively generated;
step A2, according to the four-rotor unmanned aerial vehicle in an inertial coordinate system O e X e Y e Z e Position vector X in P ＝[X P,1 ,X P,2 ,X P,3 ] T Combined with moving objects in an inertial frame O e X e Y e Z e Position vector X in tP ＝[X P,t1 ,X P,t2 ,X P,t3 ] T And constructing the relative distance of corresponding coordinates between the quad-rotor unmanned aerial vehicle and the moving target
Step A3, constructing the position deviation of the corresponding coordinates between the quad-rotor unmanned aerial vehicle and the moving target
Step A4, corresponding coordinates between the quad-rotor unmanned aerial vehicle and the moving target are establishedEquation of relative kinematics
Namely a four-rotor unmanned aerial vehicle target tracking basic model.
3. The method of claim 2, wherein step B comprises the steps of;
step B1, aiming at a relative kinematic equation of corresponding coordinates between the quad-rotor unmanned aerial vehicle and a moving target
Derivation, construction
Step B2, constructing a speed navigation vector sigma as follows:
where ζ is the desired surrounding radius between the quad-rotor drone and the moving target, μ is a preset positive adjustable parameter, k v,3 A controller gain for a quad-rotor unmanned aerial vehicle velocity ring height component; x v,t3 For moving objects in an inertial frame OeXeYeZe The velocity in the middle corresponding to the z direction, χ is a preset correction factor χ and the moving target position vector X tP The relationship of (a) to (b) is as follows:
wherein the content of the first and second substances,
step B3, constructing the error between the speed component and the speed navigation vector sigma of the quad-rotor unmanned aerial vehicle
Step B4. is directed to the error s derivation, constructing an error dynamic equation between the velocity component and the velocity navigation vector σ for the quad-rotor drone
Wherein, F v ＝[F v,1 ,F v,2 ,F v,3 ] T Virtual control input, F, representing the speed at which quad-rotor unmanned aerial vehicle positions correspond dynamically v,1 、F v,2 、F v,3 Respectively are the virtual control input of the corresponding speed of the quadrotor unmanned aerial vehicle in the directions of x, y and z of a coordinate system,
the acceleration vector of the moving target corresponding to the x, y and z directions of the coordinate system is obtained.
4. The method of claim 3, wherein step C comprises the steps of;
c1, using the acceleration vector corresponding to the moving target in the x, y and z directions of the coordinate system
Z as an added state variable to the state observer, and defining the first derivative of this state variable
The extended state equation for the error dynamics equation is constructed as follows:
step C2. constructs an extended state observer for the error dynamic equation from the extended state equation for the error dynamic equation as follows:
wherein the content of the first and second substances,
respectively are observed values of an error s and a state variable Z, theta is a preset bandwidth of the extended state observer aiming at the error dynamic equation and is a positive real number which is preset to be larger than zero;
step C3. is a bounded environmental disturbance Δ in three-dimensional coordinates with a quad-rotor drone corresponding position ring v State variable X added as trajectory loop of quad-rotor unmanned aerial vehicle η And defining the first derivative of the state variable
The expansion state equation of the trajectory loop of the quad-rotor unmanned aerial vehicle is constructed as follows:
and C4, constructing an extended state observer aiming at the trajectory loop of the quad-rotor unmanned aerial vehicle according to the extended state equation of the trajectory loop of the quad-rotor unmanned aerial vehicle, wherein the extended state observer is as follows:
wherein the content of the first and second substances,
are respectively four rotor unmanned aerial vehicle position vectors X p Four rotor unmanned aerial vehicle velocity vector X v State variable X η Observation value of σ η The method is a preset bandwidth of an extended state observer of a four-rotor unmanned aerial vehicle track loop and is a preset positive real number larger than zero.
5. The method for target-surrounding anti-interference control of the quad-rotor unmanned aerial vehicle according to claim 4, wherein in the step D, a target-surrounding tracking dynamic feedback controller of the quad-rotor unmanned aerial vehicle based on the velocity navigation vector is constructed according to an error dynamic equation and by combining observation information of each extended state observer in the following steps D1 to D4;
step D1, establishing virtual control input of dynamic corresponding speed of position of quad-rotor unmanned aerial vehicle
Wherein k is p ＝diag(k p,1 ,k p,2 ,k p,3 ) Represents the four-rotor unmanned aerial vehicle trajectory loop controller gain matrix, k p,1 、k p,2 、k p,3 The four-rotor unmanned aerial vehicle position loop component corresponds to the adjustable gain, f, of the controller in each direction of the coordinate system v (X v ) The method is a parameterized uncertainty item which cannot be accurately obtained in the aerodynamic coefficient of the quad-rotor unmanned aerial vehicle;
step D2. constructs a virtual control input F for the dynamic corresponding velocity of the quad-rotor drone position v Total lift u of size and four rotor unmanned aerial vehicle propellers 1 The following relationship is satisfied:
wherein u is 1 Showing the total lift of the propellers of a quad-rotor drone,
θ d 、ψ d respectively representing the expected roll angle, the expected pitch angle and the expected yaw angle of the quad-rotor unmanned aerial vehicle generated by the speed loop control signal;
step D3. setting the yaw angle psi based on the operator d And then the total lift u of the propeller of the quad-rotor unmanned aerial vehicle 1 And desired roll angle
Desired pitch angle θ d The following were used:
step D4. generates a vector of desired roll angle, desired pitch angle, and desired yaw angle for the quad-rotor drone based on the speed loop control signal
Construction of four-rotor unmanned aerial vehicle attitude angle tracking error vector
6. The method for target-surround anti-jamming control of a quad-rotor drone according to claim 5, wherein said step E includes the steps of;
step E1, tracking error vector e according to attitude angle of quad-rotor unmanned aerial vehicle Θ And constructing corresponding angular velocity tracking error vector of quad-rotor unmanned aerial vehicle
Wherein the content of the first and second substances,
is an intermediate variable, k Θ ＝diag(k Θ,1 ,k Θ,2 ,k Θ,3 ) Representing a quad-rotor unmanned aerial vehicle attitude angle controller gain matrix,k Θ,1 、k Θ,2 、k Θ,3 the attitude angles of the four-rotor unmanned aerial vehicle correspond to the adjustable gains of the controller in each direction of a coordinate system respectively;
step E2, tracking error vector e according to corresponding angular velocity of quad-rotor unmanned aerial vehicle ω Constructing an auxiliary function
Wherein k is ω ＝diag(k ω,1 ,k ω,2 ,k ω,3 ) Represents the four-rotor unmanned aerial vehicle angular velocity controller gain matrix, k ω,1 、k ω,2 、k ω,3 The angular speed of the quad-rotor unmanned aerial vehicle corresponds to the adjustable gain of the controller in each direction of the coordinate system;
step E3. unfolding for the auxiliary function xi, obtaining
Then, constructing a four-rotor unmanned aerial vehicle attitude loop anti-interference controller as follows:
U ω ＝U ω1 +U ω2 +U ω3 ,
U ω2 ＝-k ω e ω -k Ξ e ω ,
wherein k is Ξ ＝diag(k Ξ,1 ,k Ξ,2 ,k Ξ,3 ) Is a positive robust feedback gain matrix, the robust integral gain delta is an adjustable parameter larger than zero, xi is an integral variable, U ω Is a four-rotor unmanned aerial vehicle attitude loop controller, U ω1 For model compensation terms in the controller, U ω2 For linear feedback terms, U ω3 Is a non-linear robust term.
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