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Hybrid control based stability augmentation control method of quad-rotor unmanned helicopter

A four-rotor UAV and controller technology, which is applied in three-dimensional position/channel control and other directions, can solve the problem that the quadrotor UAV cannot fly stably, achieve the effect of improving the flight state and avoiding out-of-control situations

Active Publication Date: 2013-02-06
NORTH CHINA ELECTRIC POWER UNIV (BAODING) +2
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Problems solved by technology

[0005] The purpose of the present invention is to propose a hybrid control-based quadrotor drone stability control method to solve the problem that the currently designed quadrotor drone cannot fly stably under complex conditions

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  • Hybrid control based stability augmentation control method of quad-rotor unmanned helicopter
  • Hybrid control based stability augmentation control method of quad-rotor unmanned helicopter
  • Hybrid control based stability augmentation control method of quad-rotor unmanned helicopter

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Embodiment Construction

[0030] The preferred embodiments will be described in detail below in conjunction with the accompanying drawings. It should be emphasized that the following description is only exemplary and not intended to limit the scope of the invention and its application.

[0031] figure 1 It is a flow chart of the stability-increasing control method for quadrotor UAV based on hybrid control. figure 1 Among them, the hybrid control-based quadrotor UAV stabilization control method provided by the present invention includes:

[0032] Step 1: Set the flight state variables of the quadrotor UAV and select the state switching parameters.

[0033] The state variable of the quadrotor UAV is S={x, y, z, φ, θ, ψ}, where x is the longitude of the quadrotor UAV, y is the latitude of the quadrotor UAV, z is the The height of the man-machine, φ is the roll angle of the quadrotor drone, θ is the pitch angle of the quadrotor drone, and ψ is the yaw angle of the quadrotor drone.

[0034] The state va...

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Abstract

The invention discloses a hybrid control based design method of a stability augmentation controller of a quad-rotor unmanned helicopter in the technical field of automatic control. The design method comprises the following steps of: setting a state variable and a state switching parameter of the quad-rotor unmanned helicopter; setting a height switching value, a roll angle switching value, a pitch angle switching value, a roll angle critical value and a pitch angle critical value of the quad-rotor unmanned helicopter; setting a discrete state set and a discrete event set; setting a discrete state transition condition of the quad-rotor unmanned helicopter; and judging the state of the quad-rotor unmanned helicopter and respectively designing a lifting controller, a stability controller, the stability augmentation controller and an out-of-control protection device according to the state of the quad-rotor unmanned helicopter. By using the design method, the stable flight of the unmanned helicopter under a complex condition can be ensured, the out-of-control condition can be effectively avoided, and the flight state of the helicopter can be improved.

Description

technical field [0001] The invention belongs to the technical field of automatic control, and in particular relates to a method for stabilizing a quadrotor unmanned aerial vehicle based on hybrid control. Background technique [0002] Quadrotor UAV is a new multi-rotor unmanned aerial vehicle capable of vertical take-off and landing. Compared with conventional rotorcraft, quadrotor UAVs are more compact in structure and can generate greater lift. , have very broad application prospects. [0003] However, due to the small size and light weight of most quadrotor drones, the signal-to-noise ratio is large when flying. And this kind of unmanned aerial vehicle is an underactuated system with six degrees of freedom and only four control inputs. very difficult. At present, most of the single flight controllers designed by research institutions at home and abroad can only fly in a windless environment inside the laboratory. For complex environments outside the laboratory or in a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
Inventor 李国栋刘琳吴华宋志立罗晗宋志新李小龙黄琳华
Owner NORTH CHINA ELECTRIC POWER UNIV (BAODING)
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