Four-rotor aircraft speed control method based on integral variable structure control

Abstract

The invention provides a four-rotor aircraft speed control method based on integral variable structure control, and relates to the technical field of embedded systems, digital signal processing, microminiature unmanned aerial vehicles and the like. Firstly, building a four-rotor aircraft experimental platform, wherein the platform is an aircraft rack constructed by carbon fiber materials and a designed flight control embedded system; secondly, designing a flight control system by adopting a hierarchical designing scheme, wherein the flight control system comprises an upper-layer control module and a lower-layer control module; thirdly, achieving aircraft attitude control in the lower-layer control module, achieving speed control in the upper-layer control module; and fourthly, using an integral variable structure control algorithm in the attitude control and the speed control. According to the four-rotor aircraft speed control method based on the integral variable structure control, a prithvi air defence exercise (pade) approximation algorithm, a Kalman filtering algorithm and the integral variable structure control algorithm are used, algorithm complexity of the system is reduced greatly through the pade approximation algorithm; system state quantity which can not be obtained directly through sensors is obtained through the Kalman filtering algorithm; and lastly an integral variable structure controller is designed, wherein the integral variable structure controller has strong robustness and anti-interference performance.

Description

technical field [0001] The invention relates to the technical field of miniature unmanned aerial vehicles, in particular to a method for controlling the speed of a quadrotor aircraft based on integral variable structure control. Background technique [0002] The quadrotor is a VTOL (vertical take-off and landing) aircraft with excellent performance. Compared with single-rotor aircraft, it has the advantages of simple structure and fast flight speed, and can be widely used in low-altitude patrols, military reconnaissance, aerial photography, meteorological surveys, etc., and has great practical value and broad development prospects. [0003] In the miniature quadrotor aircraft, due to the small size and poor load capacity of the aircraft, complex sensor devices cannot be carried, and the airborne control system uses a small embedded system; these limitations have led to the increase of difficulty in the control of the miniature quadrotor aircraft . To control the position o...

AI Technical Summary

Problems solved by technology

[0004] The patent number is CN102591350A "Control Method and System for Quadrotor Unmanned Aerial Vehicle", which proposes a method of using various sensors to obtain flight data of the aircraft, and generates four motor speed information to the drive unit to control the aircraft, which solves the basic flight problems of the aircraft, and then The proposed method only simply filters the state information obtained, and the state information obtained by the existing general measuring devices is inaccurate; the four rotor speeds are simply obtained according to the flight state information and flight instructions; such The control system cannot accurately control the attitude and position of the aircraft; in the actual system, the use of conventional GPS modules to measure position signals has a large delay, and high-end GPS modules are very expensive

Images