CN116301058B - Unmanned flight feedback nonlinear yaw control method, system and equipment - Google Patents
Unmanned flight feedback nonlinear yaw control method, system and equipment Download PDFInfo
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- CN116301058B CN116301058B CN202310525748.2A CN202310525748A CN116301058B CN 116301058 B CN116301058 B CN 116301058B CN 202310525748 A CN202310525748 A CN 202310525748A CN 116301058 B CN116301058 B CN 116301058B
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The invention discloses an unmanned aerial vehicle feedback nonlinear yaw control method, system and equipment, belonging to the technical field of unmanned aerial vehicle flight control, wherein the method comprises the following steps: calculating to obtain the current heading distance deviation of the unmanned aerial vehicle; calculating to obtain the current track angle deviation of the unmanned aerial vehicle; establishing a nonlinear state equation of course distance deviation and course angle deviation; converting the nonlinear state equation into a linear system; according to the transfer characteristic of the linear system, constructing state feedback according to the course distance deviation and the course angle deviation, so as to convert the linear system into a closed-loop control system; calculating to obtain a state feedback coefficient; calculating to obtain the state feedback; according to the state feedback, a roll angle real-time instruction is obtained through calculation and is sent to control equipment of the unmanned aerial vehicle for yaw control. The invention can quickly and accurately realize the yaw control of the unmanned aerial vehicle by establishing a feedback closed-loop control system for tracking the course distance deviation and the track angle deviation of the unmanned aerial vehicle in real time.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle flight control, and particularly relates to an unmanned aerial vehicle flight feedback nonlinear yaw control method, system and equipment.
Background
Unmanned vehicles are widely applied, and the unmanned vehicles autonomously complete flight control according to planned flight path tasks, wherein yaw track control realizes the track tracking in the yaw direction by generating roll angle control instructions through an autonomous control system according to real-time position deviation.
In the traditional unmanned aerial vehicle yaw control, a PID control strategy based on transverse position deviation is mainly adopted, and in order to meet the control response index requirement, a PID system of a deviation signal needs to be subjected to repeated iteration parameter adjustment in the design process, and the parameter adjustment process often needs a designer to have better engineering experience, consumes longer time and sometimes cannot obtain better tracking effect.
Disclosure of Invention
The invention provides a unmanned aerial vehicle feedback nonlinear yaw control method, a system and equipment, which are used for solving the problems of long time consumption and poor tracking effect of the existing unmanned aerial vehicle yaw control technology. The invention can quickly and accurately realize the yaw control of the unmanned aerial vehicle by establishing a feedback closed-loop control system for tracking the distance deviation and the track angle deviation of the aerial vehicle in real time.
The invention is realized by the following technical scheme:
an unmanned aerial feedback nonlinear yaw control method, the control method comprising:
according to the current position coordinates of the unmanned aerial vehicle and the corresponding route coordinates, calculating to obtain the current heading distance deviation of the unmanned aerial vehicle;
according to the speed of the unmanned aerial vehicle in the flight altitude plane, calculating to obtain the current track angle deviation of the unmanned aerial vehicle;
establishing a nonlinear state equation of the course distance deviation and the track angle deviation;
converting the nonlinear state equation into a linear system;
according to the transfer characteristic of the linear system, constructing state feedback according to the course distance deviation and the track angle deviation, so as to convert the linear system into a closed-loop control system;
calculating to obtain a state feedback coefficient according to the design index of the closed-loop control system;
calculating to obtain the state feedback according to the state feedback coefficient;
according to the state feedback, a roll angle real-time instruction is obtained through calculation and is sent to control equipment of the unmanned aerial vehicle for yaw control.
Compared with the existing technology for realizing the yaw control of the unmanned aerial vehicle by adopting the PID control strategy of the transverse position deviation, the technology has higher engineering experience requirements on related personnel, long time consumption, incapability of guaranteeing the tracking effect and the like, and the control technology provided by the invention can quickly and accurately realize the yaw control of the unmanned aerial vehicle by establishing a feedback closed-loop control system for tracking the heading distance deviation and the track angle deviation of the unmanned aerial vehicle in real time; meanwhile, the resolving process in the control technology provided by the invention can be realized only according to the system design parameters, has low engineering experience requirements on related personnel, is convenient for popularization and application of the technology, and provides technical support and data support for the flight safety of unmanned aerial vehicles.
As a preferred embodiment, the present invention sets the coordinates of the P point of the current position of the unmanned aerial vehicle asThe route starting point coordinate corresponding to the current position P point is +.>The route end point coordinate corresponding to the current position P point is +.>The current heading distance deviation of the unmanned aerial vehicle is obtained through the following calculation:
；
in the method, in the process of the invention,。
as a preferred embodiment, the invention takes the plane velocity vector of the flying height of the unmanned aerial vehicle asThe current track angle deviation of the unmanned aerial vehicle is obtained through the following calculation:
；
in the method, in the process of the invention,，/>for the route end coordinates +.>Vector representation of +.>For the starting point coordinates of the route->Is the modulus of the vector.
As a preferred embodiment, the nonlinear state equation established by the present invention is:
；
in the method, in the process of the invention,acceleration of gravity, ++>Is thattTime of flight speed,/->Is thattRoll angle of moment->Is thattHeading distance deviation of time,/>Is thattTrack angular deviation of time.
As a preferred embodiment, the method of the invention is introducedSimultaneously takingThe linear system of conversion is then:
；
wherein, the liquid crystal display device comprises a liquid crystal display device,is thattTime of day state reversalFeed (S)>Is->Is transformed into->And (5) the system deviation is brought.
As a preferred embodiment, the state feedback constructed by the present invention is:
；
the established state equation of the closed-loop control system is as follows:
；
wherein, the liquid crystal display device comprises a liquid crystal display device,for the state quantity->Is thattCourse distance deviation coefficient of moment,/>Is thattThe track angle deviation coefficient at the moment;
the characteristic polynomial of the closed-loop control system is as follows:
；
in the method, in the process of the invention,for Laplace operator>And->Damping ratio and natural frequency of the closed loop control system, respectively.
As a preferred embodiment, the present invention calculates, according to the design index of the closed-loop control system, a state feedback coefficient, which is respectively:
。
in a preferred embodiment, according to the state feedback coefficient, the state feedback is calculated as:
；
wherein, the liquid crystal display device comprises a liquid crystal display device,is thattStatus feedback of time of day->Is thattHeading distance deviation of time,/>Is thattTrack angle deviation of time of day, +.>Is thattCourse distance deviation coefficient of moment,/>Is thattThe track angle deviation coefficient at the moment;
and then, according to the relation between the state feedback and the roll angle, calculating to obtain a roll angle real-time instruction.
In a second aspect, the present invention proposes an unmanned flight feedback nonlinear yaw control system, the control system comprising:
a first calculation unit: according to the current position coordinates of the unmanned aerial vehicle and the corresponding route coordinates, calculating to obtain the current heading distance deviation of the unmanned aerial vehicle;
a second calculation unit: according to the speed of the unmanned aerial vehicle in the flight altitude plane, calculating to obtain the current track angle deviation of the unmanned aerial vehicle;
a state equation construction unit: establishing a nonlinear state equation of the course distance deviation and the track angle deviation;
a conversion unit: converting the nonlinear state equation into a linear system;
closed loop control unit: and constructing state feedback according to the transfer characteristic of the linear system by using the heading distance deviation and the track angle deviation: thereby converting the linear system into a closed loop control system;
a third calculation unit: calculating a state feedback coefficient according to the design index of the closed-loop control system, and calculating the state feedback according to the state feedback coefficient;
and a calculation unit: according to the state feedback, a roll angle real-time instruction is obtained through calculation and is sent to control equipment of the unmanned aerial vehicle for yaw control.
In a third aspect the invention proposes an on-board electronic device comprising a memory storing a computer program and a processor implementing the steps of the control method according to the invention as described above when said computer program is executed by said processor.
The invention has the following advantages and beneficial effects:
1. according to the invention, a nonlinear state equation is established by utilizing real-time flight parameters of the unmanned aerial vehicle, the nonlinear state equation is converted into a linear system, and a closed-loop control system with course distance deviation and track angle deviation as state feedback is established, so that a roll angle real-time instruction can be quickly calculated according to design indexes of the system, and yaw control of the unmanned aerial vehicle can be quickly and accurately realized.
2. According to the invention, the real-time roll angle instruction can be obtained by calculation only according to the design index of the system, the engineering experience requirement on a designer is low, and the cost is reduced.
Drawings
The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiments of the invention. In the drawings:
fig. 1 is a flowchart of a control method according to an embodiment of the present invention.
Fig. 2 is a real-time parameter relationship during the flight of an unmanned aerial vehicle according to an embodiment of the present invention.
Fig. 3 is a block diagram of a linear system transfer function according to an embodiment of the present invention.
Fig. 4 is a schematic block diagram of a control system according to an embodiment of the present invention.
Detailed Description
For the purpose of making apparent the objects, technical solutions and advantages of the present invention, the present invention will be further described in detail with reference to the following examples and the accompanying drawings, wherein the exemplary embodiments of the present invention and the descriptions thereof are for illustrating the present invention only and are not to be construed as limiting the present invention.
Examples:
the engineering experience requirements of related designers are higher and the time consumption is longer for the existing unmanned aerial vehicle yaw control technology; sometimes, a good tracking effect cannot be obtained, and the control accuracy is poor. Based on this, this embodiment proposes an unmanned aerial feedback nonlinear yaw control method, in the flight process of an aircraft, the change of aerodynamic force, centrifugal force and the like can cause the nonlinear response of the change of the yaw angle of the aircraft, so that the nonlinear control technology is adopted to accurately model and control the dynamic response of the aircraft, so that the yaw motion of the aircraft can be controlled more accurately and reliably, and meanwhile, the nonlinear control technology can also better process uncertainty factors (such as wind direction, load and the like) affecting the yaw motion of the aircraft, and improve the robustness and reliability of yaw control, so that the nonlinear control method adopting course distance deviation and track angle deviation as feedback control parameters is provided in this embodiment: the method specifically utilizes real-time parameters in the flight process of the unmanned aerial vehicle to establish a nonlinear state equation, and converts the state equation into a closed-loop control system taking course distance deviation and track angle deviation as state feedback, so that a roll angle real-time instruction can be obtained by quick and accurate calculation according to design indexes of the system, yaw control of the unmanned aerial vehicle is effectively realized, and control precision, robustness and adaptability are improved.
As shown in fig. 1, the method proposed in this embodiment includes the following steps:
step 1, acquiring current position coordinates of the unmanned aerial vehicle and corresponding route coordinates thereof, and calculating to obtain current course distance deviation of the unmanned aerial vehicle according to the acquired coordinate data.
Specifically, when the unmanned aerial vehicle flies on the route, the coordinates of the P point of the current position can be set asThe route coordinates corresponding to the current position P point can be defined by +.>(i.e. route start point coordinates) and +.>(i.e., route end coordinates) composition, as shown in FIG. 2, the vertical distance of the current position to the track is calculated +.>Namely, the current heading distance deviation of the unmanned aerial vehicle is calculated by the following steps:
，
wherein, the liquid crystal display device comprises a liquid crystal display device,。
it should be noted that, the track of the unmanned aerial vehicle is planned in advance, and the track may be formed by a plurality of segments of the track, so in this embodiment, one segment of the track is represented by a line segment formed by the coordinates of the starting point and the coordinates of the ending point of the track.
The current position coordinates of the unmanned aerial vehicle can be obtained in real time according to a GPS (Global positioning System) and other positioning devices on the unmanned aerial vehicle, and the head-tail coordinates of the route corresponding to the current position of the unmanned aerial vehicle can be directly obtained from a pre-planned route instruction stored on the unmanned aerial vehicle.
And 2, calculating to obtain the current track angle deviation of the unmanned aerial vehicle according to the speed in the plane of the flying height of the unmanned aerial vehicle.
In particular, the in-plane velocity vector of the unmanned aerial vehicle may be expressed asAs shown in fig. 2, the current track angular deviation calculating method is expressed as:
，
wherein, the liquid crystal display device comprises a liquid crystal display device,，/>for the route end coordinates +.>Vector representation of +.>For the starting point coordinates of the route->Vector representation of->Is the difference between the coordinate vector of the route end point and the coordinate vector of the route starting point, and I.S. is the modulus of the vector.
And 3, establishing a nonlinear state equation of the course distance deviation and the course angle deviation.
The unmanned aerial vehicle course control realizes yaw control by rolling to generate lateral force, so that the embodiment establishes a state equation of course distance deviation and track angle deviation, expressed as:
，
wherein, the liquid crystal display device comprises a liquid crystal display device,acceleration of gravity, ++>Is thattTime of flight speed,/->Is thattRoll angle of moment->Is thattHeading distance deviation of time,/>Is->Differential of->Is thattTrack angle deviation of time of day, +.>Is thatIs a derivative of (a).
And 4, converting the nonlinear state equation into a linear system.
The state equation of the course distance deviation and the course angle deviation is a nonlinear equation, so the embodiment introducesAt the same time due to->Smaller, thus->Thereby converting the above state equation into a linear system, specifically expressed as:
，
wherein, the liquid crystal display device comprises a liquid crystal display device,is thattStatus feedback of time of day->Is->Is transformed into->The resulting systematic deviation, the open loop transfer function block diagram of the linear system is shown in fig. 3.
And 5, establishing a closed-loop control system with the heading distance deviation and the track angle deviation as state feedback and a state equation thereof according to the linear system.
Specifically, according to the open loop transfer characteristic of the linear system, a state feedback is constructed by using the course distance deviation and the course angle deviation, so that the linear system is converted into a closed loop control system, and the state feedback is expressed as:
。
the state equation of the closed-loop control system established in this embodiment is as follows:
；
wherein, the liquid crystal display device comprises a liquid crystal display device,for the state quantity->Is->Differential of->And->Is thattThe state feedback coefficient of the moment (in particular, +.>Is the heading distance deviation coefficient>Is the track angular deviation coefficient).
The characteristic polynomials of the system are:；
wherein, the liquid crystal display device comprises a liquid crystal display device,for Laplace operator>And->The damping ratio and the natural frequency of the system are respectively determined by the system control design index.
And step 6, calculating to obtain a state feedback coefficient according to the design index of the closed-loop control system.
According to the damping ratio and the natural frequency of the closed-loop control system, the state feedback coefficients are calculated, and are respectively:
。
and 7, calculating to obtain state feedback according to the calculated state feedback coefficient.
The embodiment obtains the state feedback coefficient according to the calculation, namelyAnd->Calculating to obtain state feedback, namely:
。
and 8, according to the calculated state feedback, calculating to obtain a roll angle real-time instruction and sending the roll angle real-time instruction to control equipment of the unmanned aerial vehicle for yaw control.
The embodiment obtains state feedback according to the calculation, namelyResolving to obtain real-time instructions of roll angles。
The embodiment also provides an unmanned aerial feedback nonlinear yaw control system, and specifically as shown in fig. 4, the system provided in the embodiment includes:
the first calculation unit is used for acquiring the current position coordinates of the unmanned aerial vehicle and the corresponding route coordinates thereof, and calculating to obtain the current course distance deviation of the unmanned aerial vehicle according to the acquired coordinate data.
And the second calculation unit is used for calculating the current track angle deviation of the unmanned aerial vehicle according to the in-plane speed of the flying height of the unmanned aerial vehicle.
And the state equation construction unit is used for establishing a nonlinear state equation of the course distance deviation and the course angle deviation.
And the conversion unit is used for converting the nonlinear state equation into a linear system.
And the closed-loop control unit establishes a closed-loop control equation with the heading distance deviation and the track angle deviation as state feedback and a state equation thereof according to the linear system.
And the third calculation unit is used for calculating a state feedback coefficient according to the design index of the closed-loop control system and obtaining state feedback according to the state feedback coefficient.
And the calculating unit is used for calculating a roll angle real-time instruction according to the state feedback and sending the roll angle real-time instruction to the control equipment of the unmanned aerial vehicle for yaw control.
The embodiment also provides an onboard electronic device for executing the method of the embodiment.
The on-board electronic device may employ a computer device including a processor, a memory, and a system bus; various device components, including memory and processors, are connected to the system bus. A processor is a piece of hardware used to execute computer program instructions by basic arithmetic and logical operations in a computer system. Memory is a physical device used to temporarily or permanently store computing programs or data (e.g., program state information). The system bus may be any of several types of bus structures including a memory bus or memory controller, a peripheral bus, and a local bus. The processor and the internal memory may communicate data via a system bus. Where internal memory includes Read Only Memory (ROM) or flash memory, and Random Access Memory (RAM), which generally refers to the main memory loaded with an operating system and computer programs.
It should be noted that other computer systems including more or fewer subsystems than computer devices may also be suitable for use with the invention.
As described in detail above, the computer apparatus adapted to the present embodiment can perform the specified operation of the yaw control method. The computer device performs these operations in the form of software instructions that are executed by a processor in a computer-readable medium. The software instructions may be read into memory from a storage device or from another device via a lan interface. The software instructions stored in the memory cause the processor to perform the method of processing group member information described above. Furthermore, the invention may be implemented by means of hardware circuitry or by means of combination of hardware circuitry and software instructions. Thus, implementation of the present embodiments is not limited to any specific combination of hardware circuitry and software.
The foregoing description of the embodiments has been provided for the purpose of illustrating the general principles of the invention, and is not meant to limit the scope of the invention, but to limit the invention to the particular embodiments, and any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (8)
1. An unmanned aerial feedback nonlinear yaw control method, the control method comprising:
according to the current position coordinates of the unmanned aerial vehicle and the corresponding route coordinates, calculating to obtain the current heading distance deviation of the unmanned aerial vehicle;
according to the speed of the unmanned aerial vehicle in the flight altitude plane, calculating to obtain the current track angle deviation of the unmanned aerial vehicle;
establishing a nonlinear state equation of the course distance deviation and the track angle deviation;
converting the nonlinear state equation into a linear system;
according to the transfer characteristic of the linear system, constructing state feedback according to the course distance deviation and the track angle deviation, so as to convert the linear system into a closed-loop control system;
the constructed state feedback is as follows:
φ c (t)＝K L (t)ΔL(t)+K Ψ (t)ΔΨ(t)；
the established state equation of the closed-loop control system is as follows:
wherein phi is c (t) is state feedback at time t, deltaL (t) is heading distance deviation at time t, deltapsi (t) is track angle deviation at time t, x is state quantity, K L (t) is the heading distance deviation coefficient at the moment of t, K Ψ (t) is the track angle deviation coefficient at the moment t, V (t) is the flight speed at the moment t, and g is the gravitational acceleration;
the characteristic polynomial of the closed-loop control system is as follows:
s 2 -K Ψ (t)gs+K L (t)V(t)g＝s 2 +2ξω n s+ω n 2 ；
where s is Laplacian, ζ and ω n Damping ratio and natural frequency of the closed-loop control system are respectively;
calculating to obtain a state feedback coefficient according to the design index of the closed-loop control system;
according to the design index of the closed-loop control system, the calculated state feedback coefficients are respectively:
calculating to obtain the state feedback according to the state feedback coefficient;
according to the state feedback, a roll angle real-time instruction is obtained through calculation and is sent to control equipment of the unmanned aerial vehicle for yaw control.
2. The unmanned aerial feedback nonlinear yaw control method of claim 1, wherein the coordinates of the P point at the current position of the unmanned aerial vehicle are set to be (x, y), and the coordinates of the starting point of the route corresponding to the P point at the current position are set to be P 1 (x 1 ，y 1 ) The route end point coordinate corresponding to the current position P point is P 2 (x 2 ，y 2 ) The current heading distance deviation of the unmanned aerial vehicle is obtained through the following calculation:
wherein a=y 2 -y 1 ，b＝x 1 -x 2 ，c＝x 2 y 1 -x 1 y 2 。
3. The unmanned aerial vehicle feedback nonlinear yaw control method of claim 2, wherein the unmanned aerial vehicle altitude in-plane velocity vector is set to beThe current track angle deviation of the unmanned aerial vehicle is calculated by the following formula:
in the method, in the process of the invention, for the route end point coordinates P 2 Vector representation of +.>For the line starting point coordinates P 1 Is the modulus of the vector.
4. The unmanned aerial feedback nonlinear yaw control method of claim 1, wherein the nonlinear state equation established is:
where g is the gravitational acceleration, V (t) is the flight speed at time t, phi (t) is the roll angle at time t, Δl (t) is the heading distance deviation at time t, and Δψ (t) is the track angle deviation at time t.
5. The unmanned aerial feedback nonlinear yaw control method of claim 4, wherein the method introduces Φ (t) =tan -1 V(t)φ c (t) taking sin Δψ (t) ≡Δψ (t) at the same time, the linear system of conversion is:
wherein phi is c (t) feedback of the state at time t, d ΔL Systematic deviations for the conversion of sin Δψ (t) into Δψ (t).
6. The unmanned aerial vehicle feedback nonlinear yaw control method of claim 1, wherein the calculating the state feedback according to the state feedback coefficient is:
φ c (t)＝K L (t)ΔL(t)+K Ψ (t)ΔΨ(t)；
wherein phi is c (t) is state feedback at time t, deltaL (t) is heading distance deviation at time t, deltapsi (t) is track angle deviation at time t, K L (t) is the heading distance deviation coefficient at the moment of t, K Ψ (t) is the track angle deviation coefficient at the moment t;
and then, according to the relation between the state feedback and the roll angle, calculating to obtain a roll angle real-time instruction.
7. An unmanned flight feedback nonlinear yaw control system, the control system comprising:
a first calculation unit: according to the current position coordinates of the unmanned aerial vehicle and the corresponding route coordinates, calculating to obtain the current heading distance deviation of the unmanned aerial vehicle;
a second calculation unit: according to the speed of the unmanned aerial vehicle in the flight altitude plane, calculating to obtain the current track angle deviation of the unmanned aerial vehicle;
a state equation construction unit: establishing a nonlinear state equation of the course distance deviation and the track angle deviation;
a conversion unit: converting the nonlinear state equation into a linear system;
closed loop control unit: according to the transfer characteristic of the linear system, constructing state feedback according to the course distance deviation and the track angle deviation, so as to convert the linear system into a closed-loop control system;
the constructed state feedback is as follows:
φ c (t)＝K L (t)ΔL(t)+K Ψ (t)ΔΨ(t)；
the established state equation of the closed-loop control system is as follows:
wherein phi is c (t) is state feedback at time t, deltaL (t) is heading distance deviation at time t, deltapsi (t) is track angle deviation at time t, x is state quantity, K L (t) is the heading distance deviation coefficient at the moment of t, K Ψ (t) is the track angle deviation coefficient at the moment t, V (t) is the flight speed at the moment t, and g is the gravitational acceleration;
the characteristic polynomial of the closed-loop control system is as follows:
s 2 -K Ψ (t)gs+K L (t)V(t)g＝s 2 +2ξω n s+ω n 2 ；
where s is Laplacian, ζ and ω n Damping ratio and natural frequency of the closed-loop control system are respectively;
a third calculation unit: calculating a state feedback coefficient according to the design index of the closed-loop control system, and calculating the state feedback according to the state feedback coefficient;
according to the design index of the closed-loop control system, the calculated state feedback coefficients are respectively:
and a calculation unit: according to the state feedback, a roll angle real-time instruction is obtained through calculation and is sent to control equipment of the unmanned aerial vehicle for yaw control.
8. An on-board electronic device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1-6 when the computer program is executed.
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