CN116909199B - Control method of reconfigurable unmanned aerial vehicle based on connecting rod configuration - Google Patents
Control method of reconfigurable unmanned aerial vehicle based on connecting rod configuration Download PDFInfo
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Abstract
The invention discloses a control method of a reconfigurable unmanned aerial vehicle based on a connecting rod configuration, wherein the reconfigurable unmanned aerial vehicle comprises a reconfiguration controller, a BSTSMC controller arranged on a gesture ring and an expansion state observer connected with the BSTSMC controller; the control method comprises the following steps: the reconstruction controller reconstructs the reconfigurable unmanned aerial vehicle according to the received reconstruction signal; the extended state observer acquires the posture change information of the reconstructed reconfigurable unmanned aerial vehicle, and compensates the posture of the reconfigurable unmanned aerial vehicle in real time according to the posture change information; and the BSTSMC controller acquires the gesture control signal after the real-time compensation, and adjusts the gesture of the reconfigurable unmanned aerial vehicle in real time according to the gesture control signal. Under the condition that the physical properties of the reconfigurable unmanned aerial vehicle are time-varying, model uncertainty and external disturbance exist, the disturbance can be estimated and compensated in real time, so that the synchronous deformation can keep reliable flight performance during flight.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle control, and particularly relates to a control method of a reconfigurable unmanned aerial vehicle based on a connecting rod configuration.
Background
The reconfigurable unmanned aerial vehicle can reconstruct the self-form in flight to adapt to the environment, so that the application range of the unmanned aerial vehicle is widened, the attribute parameters of the unmanned aerial vehicle can be greatly influenced by the change of the self-form, the unmanned aerial vehicle is greatly disturbed, the disturbance of the gesture can also appear on the position of an under-actuated system such as a rotor unmanned aerial vehicle, at the moment, the unmanned aerial vehicle can enter a transient unsteady state, the requirement of stable control in practical application is not met, in order to weaken the gesture disturbance of the unmanned aerial vehicle in reconstruction, researchers propose a plurality of improved control algorithms, most of documents design the self-adaptive law for estimating the time-varying parameters, the real time is compensated into a nonlinear control rate based on model derivation, the method effectively weakens the disturbance caused by reconstruction, but the introduction of the self-adaptive law increases the dependence on the model accuracy of the control method, and the aimed disturbance source is single, so that the universality of the control algorithm is not favorable.
Disclosure of Invention
The invention provides a control method of a reconfigurable unmanned aerial vehicle based on a connecting rod configuration, which is used for solving the technical problem that the reconfigurable unmanned aerial vehicle is reconfigured in the flight process to generate larger gesture interference.
The invention provides a control method of a reconfigurable unmanned aerial vehicle based on a connecting rod configuration, which comprises a reconfiguration controller, a BSTSMC controller arranged on a gesture ring and an extended state observer connected with the BSTSMC controller, wherein the reconfiguration controller is connected with the BSTSMC controller; the control method comprises the following steps:
the reconstruction controller reconstructs the reconfigurable unmanned aerial vehicle according to the received reconstruction signal, wherein when a certain horn is deformed, the expression of the minimum limiting angle of the reconfigurable unmanned aerial vehicle is as follows:，
when two adjacent horn combinations deform and any three or all the horns deform, the expression of the maximum limiting angle of the reconfigurable unmanned aerial vehicle is as follows:，
in the method, in the process of the invention,、/>minimum limiting angle and maximum limiting angle of rotation of the arm at the time of unmanned aerial vehicle reconstruction are respectively +.>Is the distance between the connecting rod and the motor and the blade root, +.>For rotor diameter>For the diagonal length of the body>Is the length of the arm;
the extended state observer acquires the reconstructed posture change information of the reconfigurable unmanned aerial vehicle, and compensates the posture of the reconfigurable unmanned aerial vehicle in real time according to the posture change information;
the BSTSMC controller acquires a real-time compensated attitude control signal, adjusts the attitude of the reconfigurable unmanned aerial vehicle in real time according to the attitude control signal, and the BSTSMC controller has the following expression:
，
in the method, in the process of the invention,for total control amount, ++>For control based on the back-stepping method +.>Is the control quantity of the supercoiled control algorithm, +.>Is a group of adjustable gains->For the total perturbation of the channels observed by the extended state observer,/->Error for desired value and feedback value, +.>For the desired value->Is error differential gain +.>Differential of error, ++>For the sliding mode surface gain, < >>Is a slip form surface, is->Is of supercoiled coefficient>As a sign function +.>Is of supercoiled coefficient>Is the current run time.
Further, when two horn combinations of diagonal are deformed, the expression of the maximum limiting angle of the reconfigurable unmanned aerial vehicle is:
。
further, wherein the expression of the extended state observer is:
，
in the method, in the process of the invention,is->Time tracking error->Is->The amount of tracking feedback of the time-of-day roll channel,is->Tracking feedback quantity of moment rolling channel, +.>Is->Unmanned plane roll angle->For observer step size, +.>Is->Differentiation of the tracking feedback quantity of the time-of-day roll channel,/-)>Is->Differentiation of the tracking feedback quantity of the time-of-day roll channel,/-)>Is->Disturbance observance of the time-of-day roll channel,is->Disturbance observance of the time-of-day roll channel, +.>、/>、/>Are both the adjustable gains of the observer,is a nonlinear function when the coefficient is 0.5, < >>To output feedback gain->Is->Controller output of time roll channel, +.>A nonlinear function with a coefficient of 0.25;
，
in the method, in the process of the invention,is a coefficient of->Nonlinear function of time +.>Is an independent variable +.>At the level of the minimum value of the total number of the components,as a sign function.
Further, the attitude change information includes a gravity center change amount and an inertia change amount.
Further, assuming that the geometric center of the reconfigurable unmanned aerial vehicle before reconfiguration is the origin, the expression of the gravity center variation of the reconfigurable unmanned aerial vehicle is:
,
in the method, in the process of the invention,for the center of gravity offset +.>The mass of the machine body and the steering engine is->Vector from the center of gravity of the fuselage to the origin of coordinates, +.>For the total couple of horn, rotor and rotor, < ->For arm mass, < >>For the quality of the motor,for rotor quality->Is->Vector from center of gravity of individual horn to origin of coordinates, < >>Is->Vectors from the center of gravity of the motors to the origin of coordinates, +.>Is->Vector from center of gravity of each rotor to origin of coordinatesAmount of the components.
Further, the expression of the inertia variation of the horn of the reconfigurable unmanned aerial vehicle is:
，
in the method, in the process of the invention,inertia after reconstruction for the 1 st horn and the 3 rd horn, +.>To rotate the matrix around the y-axis +.>For inertia when the horn is not reconfigured, < >>To rotate the transpose of the matrix around the y-axis, +.>Inertia after reconstruction for the 2 nd and 4 th horn, +.>To rotate the matrix around the x-axis +.>Is a transpose of the rotation matrix about the x-axis;
wherein,，
in the method, in the process of the invention,cosine of the angle of rotation of the 2 nd and 4 th arms, +.>Sinusoidal values for the 2 nd and 4 th horn rotation angles;
，
in the method, in the process of the invention,cosine of the angle of rotation of the 1 st horn and the 3 rd horn, +.>Is the sine value of the rotation angle of the 1 st horn and the 3 rd horn.
Further, the expression of the reconstruction controller is:
，
in the method, in the process of the invention,is->Rotational angular speed of the individual arms, +.>Is->Gain of individual deformation channel->Is->Desired angle of individual arm, +.>Is->The current angle of the individual horn.
According to the control method of the reconfigurable unmanned aerial vehicle based on the connecting rod configuration, the BSTSMC controller and the cascade control framework of the extended state observer connected with the BSTSMC controller are adopted, the dependence on model precision is reduced by the control framework, the disturbance can be estimated and compensated in real time under the condition that the physical attribute of the reconfigurable unmanned aerial vehicle is time-varying and the model uncertainty and the external disturbance exist, and therefore the synchronous deformation can keep reliable flight performance during flight.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a control method of a reconfigurable unmanned aerial vehicle based on a link configuration according to an embodiment of the present invention;
FIG. 2 is a diagram illustrating the dimensions of a reconfigurable drone according to one embodiment of the present invention;
FIG. 3 is a simulation diagram of a reconstruction control according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a trace according to an embodiment of the present invention;
FIG. 5 is a diagram of a position control response of an embodiment of the present invention;
FIG. 6 is a graph showing the response of the attitude control according to an embodiment of the present invention;
FIG. 7 is a diagram showing the response to position interference during reconstruction according to an embodiment of the present invention;
fig. 8 is a diagram showing the response of the pose disturbance during reconstruction according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, a flowchart of a control method of a reconfigurable unmanned aerial vehicle based on a link configuration is shown. The reconfigurable unmanned aerial vehicle comprises a reconfiguration controller, a BSTSMC controller arranged on the attitude ring and an extended state observer connected with the BSTSMC controller.
As shown in fig. 1, the control method of the reconfigurable unmanned aerial vehicle based on the link configuration specifically includes the following steps:
step S101, the reconstruction controller reconstructs the reconfigurable unmanned aerial vehicle according to the received reconstruction signal.
In this step, the expression of the reconstruction controller is:
，
in the method, in the process of the invention,is->Rotational angular speed of the individual arms, +.>Is->Gain of individual deformation channel->Is->Desired angle of individual arm, +.>Is->The current angle of the individual horn.
Specifically, four brushless motors are adopted to provide thrust for the unmanned aerial vehicle, and four servo motors are fixedly connected with the machine body to respectively drive four machine arms to independently move, so that the modularized reconfigurable unmanned aerial vehicle is constructed.
The final reconstruction form of the reconfigurable unmanned aerial vehicle is formed by combining four independent horn deformation conditions, the deformation principle of each horn is the same, and one horn is taken as an example for description, and the four horns are parallelogram as shown in fig. 2For the purpose of the expression of aspects, all mechanical components are abstracted into line segments, line segments +.>Representing a connecting rod, line segment->Representing arm, line segment->Representing the organism, line segment->Represents the motor and the rotor->A thrust vector is generated for each individual rotor. In FIG. 2 +.>Is->A state after deformation, wherein->And->The motion between the two parts is active motion, the steering engine is used for driving, and the rest motions are all passive motions under the constraint of a parallelogram, so that the parallel connecting rod structure provided by the application can ensure +.>The direction of (2) is always equal to->Parallel, i.e. perpendicular to the body horizontal plane.
When the single arm deforms, the horizontal plane of the machine body is taken as zero degree, and the downward direction is negativeCurrent angle of individual arm->Is->The method comprises the steps of carrying out a first treatment on the surface of the When the plurality of arms are deformed in combination, the rotor and the connecting rod or the rotor are overlapped, the situation when the plurality of arms are deformed in combination is analyzed, and the rotation angle is limited as follows.
The minimum value restriction of the horn rotation angle takes place in the in-process of horn downward rotation, when reaching certain angle, the paddle can overlap with the connecting rod, and when a certain horn warp, the expression of the minimum restriction angle of reconfigurable unmanned aerial vehicle is:
，
in the method, in the process of the invention,minimum limiting angle of rotation of the moment arm for reconstruction of unmanned aerial vehicle, +.>Is the distance between the connecting rod and the motor and the blade root, +.>Is the rotor diameter.
When analyzing the maximum limiting angle, three combination deformation conditions are adopted:
1) When two diagonal horn combinations deform, the following relationship needs to be satisfied:
，
in the method, in the process of the invention,is unmanned axle distance->The diagonal length of the machine body;
if the propeller meetsThe maximum limiting angle is related to each building size of the machine body,
the expression of the maximum limiting angle of the reconfigurable unmanned aerial vehicle is:
，
2) When two adjacent horn combinations are deformed, the addition limiting conditions are as follows:，
the expression of the maximum limit angle of the reconfigurable unmanned aerial vehicle is:
，
3) When any three or all the arms are deformed, the addition limiting conditions are as follows:
，
the expression of the maximum limit angle of the reconfigurable unmanned aerial vehicle is:
，
in the method, in the process of the invention,maximum limiting angle of rotation of the moment arm for reconstruction of unmanned aerial vehicle, +.>For rotor diameter>For the diagonal length of the body>Is the length of the arm.
Based on the limitation obtained by the analysis, the maximum and minimum wheelbase of the deformation range of the reconfigurable unmanned aerial vehicle is provided as follows:
，
in the method, in the process of the invention,for the maximum wheelbase of unmanned aerial vehicle, +.>Is the minimum wheelbase of the unmanned aerial vehicle.
Step S102, the extended state observer acquires the reconstructed posture change information of the reconfigurable unmanned aerial vehicle, and compensates the posture of the reconfigurable unmanned aerial vehicle in real time according to the posture change information.
For describing the posture of the reconfigurable unmanned aerial vehicle, a point o is optionally selected on the ground as an origin, an X axis points to any direction of the earth surface, a Z axis points to the sky along a vertical direction, a Y axis is vertical to the X axis in a horizontal plane, and the direction is determined by a right-hand rule.
The origin o of the machine body coordinate system is located at the centroid of the reconfigurable unmanned aerial vehicle gesture, the x-axis is in the symmetrical plane of the reconfigurable unmanned aerial vehicle gesture and parallel to the design axis of the reconfigurable unmanned aerial vehicle gesture, the y-axis is perpendicular to the symmetrical plane of the machine body and points to the left of the machine body of the reconfigurable unmanned aerial vehicle gesture, and the z-axis passes through the o-point and is perpendicular to the xoy plane and points to the upper part of the reconfigurable unmanned aerial vehicle gesture.
The rotation matrix from the machine body coordinate system to the ground coordinate system is obtained by multiplying the basic rotation matrix by the left, and the calculation simplification result is as follows:
，
in the method, in the process of the invention,for unmanned aerial vehicle rotation matrix, +.>Pitch angle of unmanned aerial vehicle, < >>For unmanned aerial vehicle roll angle, ++>Yaw angle for the unmanned aerial vehicle;
namely, the conversion relation between the machine body coordinate system and the ground coordinate system is as follows:
，
in the method, in the process of the invention,for the representation of a point in the ground coordinate system, < >>Is a representation of a point in the body coordinate system.
And establishing a reconfigurable unmanned aerial vehicle six-freedom degree model according to the Newton Euler equation, wherein the three-freedom-degree model is represented in a ground coordinate system, and the three-freedom-degree model is represented in a body coordinate system.
，
In the method, in the process of the invention,for unmanned aerial vehicle quality, +.>Acceleration for unmanned plane, ++>Is an inertial matrix of the unmanned aerial vehicle, +.>For unmanned plane angular acceleration, +.>Is unmanned plane angular velocity +.>Lift force generated for rotor wing->Is the gravity of unmanned aerial vehicle, +.>For resistance during flight, +.>Disturbance due to reconstruction->Is the sum of external disturbances->Lift moment generated for rotor wing->Counter moment generated for air resistance to rotor wing, +.>For gyro moment +.>Reconstructing the resulting gravitational moment;
the inertial matrix of the reconfigurable unmanned aerial vehicle can change in the deformation process, and the expression of the inertial matrix of the reconfigurable unmanned aerial vehicle is as follows:
，
in the method, in the process of the invention,for unmanned aerial vehicle x-axis inertia, +.>For unmanned aerial vehicle y-axis inertia, +.>The z-axis inertia of the unmanned aerial vehicle;
the counter moment generated by air resistance to the rotor wing is as follows:
，
in the method, in the process of the invention,is a back torque coefficient->Is->The rotational speed of the rotor;
the gyro moment is as follows:
，
in the method, in the process of the invention,for rotor moment of inertia>For the angular velocity of the unmanned aerial vehicle around the y-axis, +.>For the rotational speed of the 1 st rotor>For the rotational speed of the 2 nd rotor>For the rotation speed of the 3 rd rotor,/>For the rotational speed of the 4 th rotor>The angular velocity around the x axis is the angular velocity of the unmanned aerial vehicle;
the resulting weight moment for the reconstruction is as follows:
，
in the method, in the process of the invention,for the center of gravity offset +.>For rotating matrix +.>Is the gravity of the unmanned aerial vehicle;
the relationship between the force and torque produced by the rotor and the rotor speed is as follows:
，
in the method, in the process of the invention,lift force generated for rotor wing->Lift moment generated for rotor wing->As a lifting force, the lift force is,，/>for the lift coefficient, when the reconfigurable drone is reconfigured +.>Is a time-varying matrix representing a control allocation matrix, expressed as follows:
，
in the method, in the process of the invention,is a back torque coefficient->Is->Equivalent arm of arm ∈>。
The definition control inputs are as follows:
，
in the method, in the process of the invention,for height control amount, ++>For the roll channel control quantity, +.>For pitch channel control amount, +.>A yaw path control amount;
and (3) rewriting a six-degree-of-freedom dynamics model of the reconfigurable unmanned aerial vehicle as follows:
，
in the method, in the process of the invention,for x-position second derivative, +.>For the second derivative of the y position->For the second derivative of the roll angle of the unmanned plane, +.>For the pitch angle second derivative of unmanned aerial vehicle,/->For unmanned aerial vehicle yaw second order derivative, +.>Is the air resistance coefficient>For yaw angle>For x-position first order,/for>For unmanned aerial vehicle quality, +.>Pitch angle of unmanned aerial vehicle, < >>Reconstructing a disturbance for an x-position channel, +.>For x-position channel external total disturbance, +.>For the first order of the y position,/o>Reconstructing the disturbance for the y-position channel, +.>For the external total disturbance of the y-position channel, +.>Acceleration of gravity, ++>For the first order of the altitude path, +.>Reconstructing the perturbation for the altitude channel, +.>For the total disturbance outside the altitude channel, +.>For the first order of unmanned aerial vehicle pitch angle, +.>For the first order of unmanned aerial vehicle yaw angle, +.>For the y-axis inertia of the unmanned aerial vehicle,for unmanned plane z-axis inertia, < >>For unmanned aerial vehicle x-axis inertia, +.>For the roll channel control quantity, +.>For rotor inertia->For four rotor speed differences +.>Reconstructing a disturbance for a roll angle channel, +.>For the total disturbance outside the roll angle channel, +.>For the first order of unmanned aerial vehicle roll angle, +.>For pitch channel control amount, +.>Reconstructing the disturbance for pitch angle->For pitch angle external total disturbance +.>Reconstructing disturbances for yaw angle +.>For yaw channel control amount, +.>Is the total disturbance outside the yaw angle.
It should be noted that, reconfigurable unmanned aerial vehicle includes organism, power, flight control, four steering wheels, four horn, four motors and four rotors, and wherein power, flight control, steering wheels and organism fixed connection regard as the length and width of fuselage to reconstruct unmanned aerial vehicleThe height of the machine is->The arm is regarded as the length, width and height of the arm to be +.>、、/>The motor and the rotor are respectively regarded as the motor radius of the cuboid of (2)>The motor height is +.>And rotor radius is +.>The rotor wing is +.>The cylinder attitude change information of (a) includes a center of gravity change amount and an inertia change amount.
Assuming that the geometric center of the reconfigurable unmanned aerial vehicle before reconfiguration is an origin, the expression of the gravity center variation of the reconfigurable unmanned aerial vehicle is:
,
in the method, in the process of the invention,for the center of gravity offset +.>The mass of the machine body and the steering engine is->Vector from the center of gravity of the fuselage to the origin of coordinates, +.>For the total couple of horn, rotor and rotor, < ->For arm mass, < >>For the quality of the motor,for rotor quality->Is->Vector from center of gravity of individual horn to origin of coordinates, < >>Is->Vectors from the center of gravity of the motors to the origin of coordinates, +.>Is->And a vector from the center of gravity of each rotor to the origin of coordinates.
And calculating the rotational inertia of the reconfigurable unmanned aerial vehicle by using the parallel axis theorem. Specifically, the expression for calculating the moment of inertia of each part is:
，
in the method, in the process of the invention,front body inertia for unmanned aerial vehicle reconstruction, +.>Reconstructing front horn inertia for unmanned aerial vehicle, < >>Front rotor inertia for unmanned aerial vehicle reconstruction, +.>Reconstructing front rotor inertia for unmanned aerial vehicle, +.>Is the mass of the machine body and the steering engine,for arm mass, < >>For the motor quality->Is rotor wing quality;
in the deformation process, the inertia needs to be recalculated, wherein the inertia of the cylinder is not changed, the machine body is fixedly connected to a coordinate system, so that the inertia of the machine body is not changed, the inertia variable quantity of the horn of the reconfigurable unmanned aerial vehicle is represented by introducing a rotation matrix, and the expression of the inertia variable quantity is as follows:
，
in the method, in the process of the invention,is the firstInertia after reconstruction of 1 horn and 3 rd horn,/for>To rotate the matrix around the y-axis +.>For inertia when the horn is not reconfigured, < >>To rotate the transpose of the matrix around the y-axis, +.>Inertia after reconstruction for the 2 nd and 4 th horn, +.>To rotate the matrix around the x-axis +.>Is a transpose of the rotation matrix about the x-axis;
wherein,，
in the method, in the process of the invention,cosine of the angle of rotation of the 2 nd and 4 th arms, +.>Sinusoidal values for the 2 nd and 4 th horn rotation angles;
，
in the method, in the process of the invention,cosine of the angle of rotation of the 1 st horn and the 3 rd horn, +.>Is the sine value of the rotation angle of the 1 st horn and the 3 rd horn.
The calculated inertial quantity formula according to the parallel axis theorem is:
，
in the method, in the process of the invention,inertia after reconstruction for unmanned aerial vehicle, +.>For the inertia of the body>Is the mass of the machine body and the steering engine,vector from the center of gravity of the fuselage to the origin of coordinates, +.>For the center of gravity offset +.>Is->The inertia of the individual horn is determined,for arm mass, < >>Is->Vector from center of gravity of individual horn to origin of coordinates, < >>For the inertia of the rotor,for the motor quality->Is->Vectors from the center of gravity of the motors to the origin of coordinates, +.>For inertia of rotor, the->For rotor quality->Is->Vectors of the individual rotors to the origin of coordinates;
when the reconfigurable unmanned aerial vehicle deforms, the equivalent force arm of each horn also changes, analysis of the deformation process finds that the change of the equivalent force arm has two aspects, on one hand, the horizontal distance from the rotor wing to the origin of coordinates changes due to the deformation of the horn, and the change can be expressed as follows:
，
in the method, in the process of the invention,is->The equivalent moment arm does not take into account the length of the center of gravity shift, < >>For arm length, < >>Is->Current angle of individual arm, +.>Is the length of the machine body;
on the other hand, because of the offset of the center caused by the deformation of the reconfigurable unmanned aerial vehicle, the center of gravity at this time is assumed to beThe equivalent moment arm of each horn is then expressed as follows:
，
in the method, in the process of the invention,is->Equivalent arm of force->For centre of gravity offset x-axis component +.>For the center of gravity offset y-axis component +.>Shifting the Z-axis component by gravity center;
wherein, the expression of the extended state observer is:
，
in the method, in the process of the invention,is->Time tracking error->Is->The amount of tracking feedback of the time-of-day roll channel,is->Tracking feedback quantity of moment rolling channel, +.>Is->Unmanned plane roll angle->For observer step size, +.>Is->Differentiation of the tracking feedback quantity of the time-of-day roll channel,/-)>Is->Differentiation of the tracking feedback quantity of the time-of-day roll channel,/-)>Is->Disturbance observance of the time-of-day roll channel,is->Disturbance observance of the time-of-day roll channel, +.>、/>、/>Are both the adjustable gains of the observer,is a nonlinear function when the coefficient is 0.5, < >>To output feedback gain->Is->Controller output of time roll channel, +.>A nonlinear function with a coefficient of 0.25;
，
in the method, in the process of the invention,is a coefficient of->Nonlinear function of time +.>Is an independent variable +.>At the level of the minimum value of the total number of the components,as a sign function. />
And step S103, the BSTSMC controller acquires a gesture control signal after real-time compensation, and adjusts the gesture of the reconfigurable unmanned aerial vehicle in real time according to the gesture control signal.
In this step, the expression of the bstsck (back-stepping supercoiled film) controller is:
，
in the method, in the process of the invention,for total control amount, ++>For control based on the back-stepping method +.>Is the control quantity of the supercoiled control algorithm, +.>Is a group of adjustable gains->For the total perturbation of the channels observed by the extended state observer,/->Error for desired value and feedback value, +.>For the desired value->Is error differential gain +.>Differential of error, ++>Is a slip formFace gain (I/O)>Is a slip form surface, is->Is of supercoiled coefficient>As a sign function +.>Is of supercoiled coefficient>The current time is running for the system.
In particular, the method comprises the steps of,，
in the method, in the process of the invention,is an intermediate variable;
in the method, in the process of the invention,for the desired value->For feedback value->For the first order of the desired value,/I>For the first order derivative of the feedback value,for the first order of the desired value,/I>Is an intermediate variable.
In a specific embodiment, a simulation platform is built by using simulink to verify the proposed control algorithm, and the system simulation parameters are shown in table 1.
，
The controller parameters are shown in Table 2, wherein the ESO parameters of the three gestures are the same, in the position controllerThe response speed of the controller can be adjusted, +.>、/>、/>The sliding mode coefficient of the x channel, the sliding mode coefficient of the y channel and the sliding mode coefficient of the z channel are respectively +.>The immunity of the position controller can be adjusted; in BSTSMC controller->The response speed of the BSTSMC controller can be adjusted, < >>、/>、/>Respectively->Channel(s)>Channel(s)>Sliding mode surface gain of channel,/>、/>、/>、/>、/>、/>Respectively, the supercoiled coefficients of the channels, +.>、/>、/>、/>Are both reconstructed controller gains. />
，
In order to verify that the control method provided by the application can effectively process disturbance generated by deformation, a track tracking experiment is carried out, and reconstruction is continuously carried out in the flight process, the set expected track is as follows:
，
in the method, in the process of the invention,for x-axis expected value, +.>For the y-axis expected value, +.>Is highly desirable, ++>Is the current run time;
the reconstruction mechanism uses proportional control, the reconstruction angle of each arm is shown in fig. 3, the track tracking curve is shown in fig. 4 during experiments, the actual track can be seen to track the expected track well, and the controller provided by the application has good track tracking performance.
In order to verify the response speed of the controller provided by the application, experiments of position response and attitude response are respectively carried out, the experimental results are shown in fig. 5 and 6, and the controller is arranged in the following wayThe internal reaches a steady state, and the control scheme provided by the application has better control response speed.
The application performs a reconstruction immunity experiment according to the reconstruction scheme in fig. 3, at the thFour arms are then reconfigured in order +.>The positional deviation is as shown in fig. 7, and it can be seen that the positional deviation is small and the steady state is restored in a short time, and it can be found that the positional deviation is caused by the attitude deviation by the unmanned aerial vehicle model established as described above. As can be seen from fig. 8, the deviation of the pose is +.>In the past, the control scheme provided by the application has better processing performance for the interference of the reconfigurable unmanned aerial vehicle reconfiguration, and further verifies that the controller provided by the application has better control effect on the reconfigurable unmanned aerial vehicle.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (7)
1. The control method of the reconfigurable unmanned aerial vehicle based on the connecting rod configuration is characterized in that the reconfigurable unmanned aerial vehicle comprises a reconfiguration controller, a BSTSMC controller arranged on a gesture ring and an extended state observer connected with the BSTSMC controller; the control method comprises the following steps:
the reconstruction controller reconstructs the reconfigurable unmanned aerial vehicle according to the received reconstruction signal, wherein when a certain horn is deformed, the expression of the minimum limiting angle of the reconfigurable unmanned aerial vehicle is as follows:，
when two adjacent horn combinations deform and any three or all the horns deform, the expression of the maximum limiting angle of the reconfigurable unmanned aerial vehicle is as follows:，
in the method, in the process of the invention,、/>minimum limiting angle and maximum limiting angle of rotation of the arm at the time of unmanned aerial vehicle reconstruction are respectively +.>Is the distance between the connecting rod and the motor and the blade root, +.>For rotor diameter>For the diagonal length of the body>Is the length of the arm;
the extended state observer acquires the reconstructed posture change information of the reconfigurable unmanned aerial vehicle, and compensates the posture of the reconfigurable unmanned aerial vehicle in real time according to the posture change information;
the BSTSMC controller acquires a real-time compensated attitude control signal, adjusts the attitude of the reconfigurable unmanned aerial vehicle in real time according to the attitude control signal, and the BSTSMC controller has the following expression:
，
in the method, in the process of the invention,for total control amount, ++>For control based on the back-stepping method +.>Is the control quantity of the supercoiled control algorithm,is a group of adjustable gains->For the total perturbation of the channels observed by the extended state observer,/->Error for desired value and feedback value, +.>For the desired value->Is error differential gain +.>Differential of error, ++>For the sliding mode surface gain, < >>Is a slip form surface, is->Is of supercoiled coefficient>As a sign function +.>Is of supercoiled coefficient>Is the current run time.
2. The control method of a reconfigurable unmanned aerial vehicle based on a link configuration according to claim 1, wherein when two horn combinations of diagonal angles are deformed, the expression of the maximum limiting angle of the reconfigurable unmanned aerial vehicle is:
。
3. the control method of a reconfigurable unmanned aerial vehicle based on a link configuration of claim 1, wherein the expression of the extended state observer is:
，
in the method, in the process of the invention,is->Time tracking error->Is->The amount of tracking feedback of the time-of-day roll channel,is->Tracking feedback quantity of moment rolling channel, +.>Is->Unmanned plane roll angle->For observer step size, +.>Is->Differentiation of the tracking feedback quantity of the time-of-day roll channel,/-)>Is->Differentiation of the tracking feedback quantity of the time-of-day roll channel,/-)>Is->Disturbance observance of the time-of-day roll channel,is->Disturbance observance of the time-of-day roll channel, +.>、/>、/>Are both the adjustable gains of the observer,is a nonlinear function when the coefficient is 0.5, < >>To output feedback gain->Is->Controller output of time roll channel, +.>A nonlinear function with a coefficient of 0.25;
，
in the method, in the process of the invention,is a coefficient of->Nonlinear function of time +.>Is an independent variable +.>Is minimum value +.>As a sign function.
4. The control method of a reconfigurable unmanned aerial vehicle based on a link configuration according to claim 1, wherein the attitude change information includes a center of gravity change amount and an inertia change amount.
5. The control method of a reconfigurable unmanned aerial vehicle based on a link configuration according to claim 4, wherein, assuming that a geometric center of the reconfigurable unmanned aerial vehicle before reconfiguration is an origin, an expression of a gravity center variation of the reconfigurable unmanned aerial vehicle is:
,
in the method, in the process of the invention,for the center of gravity offset +.>The mass of the machine body and the steering engine is->Vector from the center of gravity of the fuselage to the origin of coordinates, +.>For the total couple of horn, rotor and rotor, < ->For arm mass, < >>For the motor quality->For rotor quality->Is->Vector from center of gravity of individual horn to origin of coordinates, < >>Is->Vectors from the center of gravity of the motors to the origin of coordinates, +.>Is->And a vector from the center of gravity of each rotor to the origin of coordinates.
6. The control method of a reconfigurable unmanned aerial vehicle based on a connecting rod configuration according to claim 4, wherein the expression of the inertia variation of the horn of the reconfigurable unmanned aerial vehicle is:
，
in the method, in the process of the invention,inertia after reconstruction for the 1 st horn and the 3 rd horn, +.>To rotate the matrix around the y-axis +.>For inertia when the horn is not reconfigured, < >>To rotate the transpose of the matrix around the y-axis, +.>Inertia after reconstruction for the 2 nd and 4 th horn, +.>To rotate the matrix around the x-axis +.>For rotation about the x-axisA transpose of the transform matrix;
wherein,，
in the method, in the process of the invention,cosine of the angle of rotation of the 2 nd and 4 th arms, +.>Sinusoidal values for the 2 nd and 4 th horn rotation angles;
，
in the method, in the process of the invention,cosine of the angle of rotation of the 1 st horn and the 3 rd horn, +.>Is the sine value of the rotation angle of the 1 st horn and the 3 rd horn.
7. The control method of a reconfigurable unmanned aerial vehicle based on a link configuration according to claim 1, wherein the expression of the reconfiguration controller is:
，
in the method, in the process of the invention,is->Rotational angular speed of the individual arms, +.>Is->Gain of individual deformation channel->Is->Desired angle of individual arm, +.>Is->The current angle of the individual horn.
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