Trajectory tracking controlling method of six-rotor-wing air vehicle

Abstract

The invention discloses a trajectory tracking controlling method of a six-rotor-wing air vehicle, and belongs to the field of controlling of spacecraft instrumentation. The method includes the steps: building a kinematics model of the air vehicle and a dynamics model in which the air vehicle has compound jamming situations based on a Newton-Euler equation; utilizing a second order sliding mode compound jamming motion estimation algorithm of a sign functional integration to offer a continuous jamming compensation term; then adopting a method that a linear differentiator and a nonlinear differentiator are combined to design a nonlinear differentiator with rapid convergence; combining the compound jamming motion estimation algorithm, the nonlinear differentiator and backstepping to design a compound controller of a gesture system of the air vehicle; finally adopting a PD method, designing a position controller of the air vehicle, calculating out gesture angle information needed for tracking a preset trajectory and controlling lift force. According to the trajectory tracking controlling method of the six-rotor-wing air vehicle, under the situation of compound jamming, the air vehicle still has good stability and control performance, and the preset trajectory can be accurately tracked.

Description

technical field [0001] The invention relates to a trajectory tracking control method of a six-rotor aircraft, which belongs to the field of aviation aircraft control. Background technique [0002] The hexacopter has six rotors that are symmetrically distributed around the body and are in pairs of forward and reverse directions. It has broad application prospects in both military and civil fields. [0003] This type of aircraft is generally driven by electric energy, and has the characteristics of simple structure, stable flight, easy control, low noise, no pollution, easy to carry, and low safety hazards. It is very suitable for performing short-to-medium distance flight missions. Compared with the widely researched quadrotor aircraft, this aircraft has the advantage of redundant actuators (motor and rotor assembly). If any actuator fails, the attitude of the body can be kept stable through fault-tolerant control to improve the flight reliability of the aircraft. performanc...

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Problems solved by technology

[0004] However, at present, the six-rotor aircraft is still in the stage of shape and structure design in China, and there are no relevant research reports on its control method.

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