Compound active-disturbances-rejection control method of tracking control over aircraft

A technology of active disturbance rejection control and active disturbance rejection controller, which is applied in the direction of adaptive control, general control system, control/regulation system, etc.

Active Publication Date: 2014-05-07
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

The nonlinear, multi-variable, time-varying, multi-input and output, and high-order characteristic

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  • Compound active-disturbances-rejection control method of tracking control over aircraft
  • Compound active-disturbances-rejection control method of tracking control over aircraft
  • Compound active-disturbances-rejection control method of tracking control over aircraft

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Embodiment Construction

[0049] The present invention is described in detail below in conjunction with accompanying drawing.

[0050] The compound control method of the aircraft tracking control based on the combination of dynamic inverse compensation and active disturbance rejection control technology of the present invention comprises the following steps:

[0051] The first step: According to the movement law of the aircraft, the singular value perturbation theory is introduced, and the state variables of the aircraft are time-scaled, that is, the 12 state variables are divided into four groups according to the difference in response time, forming three loop subsystems.

[0052] 1. Fast variable loop

[0053] x 1 =[p q r] T is the rotation angular velocity vector, where p is the roll angular velocity, q is the pitch angular velocity, and r is the yaw angular velocity. The model is as follows:

[0054] X · 1 = ...

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Abstract

The invention provides a compound active-disturbances-rejection control method of tracking control over an aircraft, wherein the compound active-disturbances-rejection control method can improve dynamic tracking performance and stability of an aircraft trajectory tracking system. The compound active-disturbances-rejection control method comprises the steps that firstly, according to the movement rule of the aircraft, time mark partition is conducted on state variables of the aircraft, namely, the state variables are separated into four groups according to differences of response time, and control models of three loop subsystems are formed; secondly, according to the control models built in the first step, a nonlinear dynamic inverse compensation control law is designed; thirdly, according to the controlled object models built in the first step and the dynamic inverse compensation control law designed in the second step, an active-disturbances-rejection controller is designed and comprises a tracking differentiator, an expansion state observer and a feedback control law; fourthly, according to the nonlinear dynamic inverse compensation control law and the active-disturbances-rejection controller obtained previously, control strategies of a compound controller of the system are designed; thus, compound active-disturbances-rejection control of tracking control over the aircraft is completed.

Description

technical field [0001] The invention belongs to the field of aircraft trajectory tracking control, and relates to a compound active disturbance rejection control method for aircraft tracking control based on the combination of dynamic inverse control and active disturbance rejection control technology. Background technique [0002] Trajectory tracking control is the core task of unmanned aerial vehicles, and it is the basic function of unmanned aerial vehicles to follow a pre-planned trajectory to a specific target point in three-dimensional space. The nonlinear, multi-variable, time-varying, multi-input and output, and high-order characteristics of the aircraft system make the traditional linear control method unable to meet the requirements. With the continuous development of modern control theory, it has become an important subject in the research of aircraft tracking control system in various countries to open up a new way to improve the tracking performance of aircraft ...

Claims

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Application Information

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IPC IPC(8): G05D1/12G05B13/04
Inventor 夏元清王夕臣蒲钒谢竹峰付梦印柴森春
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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