Discrete input decoupling device of six-rotor unmanned aerial vehicle (UAV) and control system containing device

Abstract

The invention relates to a discrete input decoupling device of a six-rotor unmanned aerial vehicle (UAV) and a control system containing the device. The device comprises a coefficient matrix Mco storage module, a structure matrix Mrel storage module, a module which multiplies a coefficient matrix by a structure matrix and stores the product as a mapping matrix Map, a mapping matrix dimension reduction module, a dimension reducing homogeneous linear equation solving module, a basic solution vector normalization module, a differential module, an amplifier gain module, a summation module and a nonlinear resolving module. The device has the following advantage: the all driven six-rotor UAV, a multiple input multiple output system, is decoupled into six single input single output systems, thusrealizing six degrees of freedom independent control of the UAV. The biggest advantages of the device are as follows: after decoupling, the system has simple form and is easy to design control algorithm; the actual rotating speeds of the motors can be quickly calculated by adopting the virtual additional control quantity; and the algorithm has certain robustness toward fluctuation of the rotatingspeeds of the motors.

Description

technical field [0001] The invention belongs to the field of multi-rotor unmanned aerial vehicle control, and relates to a six-rotor unmanned aerial vehicle discrete input decoupling device and a control system including the device. Background technique [0002] The hexacopter UAV is different from other rotor UAVs such as helicopters and quadrotor UAVs. By changing the organizational form of the six rotors, the system can present different working modes of underactuation or full actuation. Compared with the general multi-rotor UAV, which needs to control the change of attitude angle and then control the horizontal movement, the body of the full-drive hexacopter UAV is equipped with six connecting rods, which are evenly distributed around the body, and the outer end of each connecting rod is connected to a rotor. The rotation planes of the six rotors form six inclinations with the planes where the six connecting rods are located, the rotation planes of each rotor are equal ...

AI Technical Summary

Problems solved by technology

However, due to the UAV's own structure and aerodynamic factors, the six-rotor UAV has a strong input coupling problem, that is, the change of each degree of freedom state is affected by multiple rotor speeds, and any rotor speed Changes will also cause changes in the state of multiple degrees of freedom, using a nonlinear controller with multiple inputs and multiple outputs Control is complex and difficult to implement

Images