One-way sliding-mode control method of single rotor wing unmanned aerial vehicle

A technology for unmanned aerial vehicles and aircraft, which is applied in the field of flight control and can solve problems such as difficulty in finding

Inactive Publication Date: 2013-07-10
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, it is difficult to find the appropriate sig

Method used

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  • One-way sliding-mode control method of single rotor wing unmanned aerial vehicle
  • One-way sliding-mode control method of single rotor wing unmanned aerial vehicle
  • One-way sliding-mode control method of single rotor wing unmanned aerial vehicle

Examples

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Embodiment

[0302] This experiment uses the indoor UAV flying platform Trex-250 small unmanned helicopter developed by Loughborough University based on the Vicon motion capture system. Figure 12 . The platform obtains the state variables of the drone through the Vicon motion capture system. After computer processing, the control signal is transmitted to the receiver of the drone through the signal transmitter, so as to control the drone. The working frequency of the signal transmitter is 100Hz, and the control frequency of the Trex-250 small UAV is 50Hz.

[0303] 1) Using the six-degree-of-freedom and twelve-state equations established by the Trex-250 small unmanned helicopter, (document C.Liu, W.-H.Chen, and J.Andrews, Model predictive control for autonomous helicopters with computational delay in consideration , in UKACC2010) as the controlled object model, the three position quantities (x, y, z), three velocity quantities (u, v, w), three attitude angles (φ, θ, ψ) involved in the equ...

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Abstract

The invention discloses a one-way sliding-mode control method of a single rotor wing unmanned aerial vehicle. A one-way sliding-mode controller of each loop is designed by utilizing of affine nonlinear equations of four control loops including an angular rate loop, an eulerian angle loop, a speed loop and a position loop in a control system of the aerial vehicle. The control on the single rotor wing unmanned aerial vehicle is achieved by utilizing of the four one-way sliding-mode controllers. According to the one-way sliding-mode control method, the problem of buffeting in the sliding-mode control method is solved on the basis that the reaching law of the sliding-mode in the controllers is zero if and only if the system state is in an original point, and the controllers are good in robustness and controlling performance.

Description

technical field [0001] The invention belongs to the technical field of flight control, in particular to a one-way sliding mode control method for a single-rotor unmanned aerial vehicle. Background technique [0002] The sliding mode control method is a special kind of variable structure control (Variable Structure Control, VSC) method, and its origin can be traced back to the variable structure control idea proposed by former Soviet scholar Emelyanov in the 1950s. The main content of this control idea is: the system contains a series of different controller structures, and each structure is switched according to a specific rule, so as to obtain the system performance that any single controller cannot achieve. Because the variable structure control system combines many individual controllers, the system can maintain a performance higher than that of the general fixed structure control. Based on this, the variable structure control system can break through the quality limitat...

Claims

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Application Information

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IPC IPC(8): G05B13/04
Inventor 傅健吴庆宪姜长生陈谋王玉惠都延丽薛雅丽文杰
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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