Small-sized unmanned rotary-wing aircraft high-precision control method based on adaptive neural network

An unmanned rotorcraft and neural network technology, applied in the field of autonomous control of unmanned robots, can solve the problem that the control performance is easily affected by external interference

Active Publication Date: 2013-11-27
BEIHANG UNIV
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Problems solved by technology

[0005] The technical solution of the present invention is to solve the problem that the control performance of small unmanned rotorcraft is easily affected by external interference when performing tasks, and proposes a composite control method based on the

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  • Small-sized unmanned rotary-wing aircraft high-precision control method based on adaptive neural network
  • Small-sized unmanned rotary-wing aircraft high-precision control method based on adaptive neural network
  • Small-sized unmanned rotary-wing aircraft high-precision control method based on adaptive neural network

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Embodiment Construction

[0027] Such as figure 1 As shown, the specific implementation method of the present invention is as follows:

[0028] (1) Feedback control based on pole configuration

[0029] Based on the linearization method, the dynamic equation of the small unmanned rotorcraft is expressed as

[0030] x · ( t ) = Ax ( t ) + Bu ( t ) + d ( t )

[0031] Among them, the state variable x∈R n Represents the corresponding speed, angle and angular velocity information of the small unmanned rotorcraft system. Control variable u∈R m Respectively represent the lateral cyclic variable pitch, longitudinal cyclic variable pitch, total distance control signal and heading control signal of the small unmanned rotorcraft; A∈R n×n And B ∈ R n×m Are state transition matrix and control transition matrix of state variable and control variable respectively; d ∈ R m It means the bounded compound interference caused by wind disturbance, atmospheric turbulence, gro...

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Abstract

The invention discloses a small-sized unmanned rotary-wing aircraft high-precision control method based on an adaptive neural network, and relates to the design of a composite controller with the combination of the construction and optimization of the feedback control and non-sample training adaptive neural network of a small-sized unmanned rotary-wing aircraft. Firstly, as for a small-sized unmanned rotary-wing aircraft dynamical model, a feedback control coefficient matrix is constructed through a pole assignment method to ensure the preliminary stability of a system. Secondly, the adaptive neural network with independent updating weight features is designed, an adaptive network weight updating matrix is constructed based on error messages to update a weight matrix of the neural network in an online mode, and estimation and restraint of disturbance are achieved. An adaptive threshold value optimizing strategy is designed, online updating is carried out on a control residual error upper limit threshold value of the adaptive neural network on the basis of the mean square error between the actual position and the expectation position in a time window, and the small-sized unmanned rotary-wing aircraft high-precision attitude control under the complex environment is achieved. The small-sized unmanned rotary-wing aircraft high-precision control method has the advantages of being good in real-time performance, fast in dynamic parameter response, strong in multi-source interference adaptability and the like, can be used for the high-precision control over the small-sized unmanned aircraft under the complex multi-source interference environment and the like.

Description

Technical field [0001] The invention relates to a high-precision control method for a small unmanned rotorcraft based on an adaptive neural network, which is suitable for the field of autonomous control of unmanned robots working in the air. Background technique [0002] The small unmanned gyroplane has the characteristics of vertical take-off and landing, hovering, etc. It can perform observation and information collection tasks in dangerous areas or narrow spaces such as urban streets through various sensors carried by itself, and has a wide range of application prospects. With the expansion of application fields, the working environment of small unmanned rotorcraft is also complex and changeable. The high-precision control of small unmanned rotorcraft with strong immunity and high stability has become a research hotspot. [0003] As a complex multi-input multi-output control system, the small unmanned gyroplane has the characteristics of nonlinearity, strong coupling, and high c...

Claims

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Application Information

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IPC IPC(8): G05B13/04
Inventor 雷旭升郭克信陆培张霄
Owner BEIHANG UNIV
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