Anti-interference attitude control method suitable for miniaturized unmanned aircraft

Abstract

The invention relates to an anti-interference attitude control method suitable for a miniaturized unmanned aircraft. The method comprises the following five major steps: decomposing an aircraft model into a determination part and a disturbance term; according to a decomposition model of an aircraft, designing a disturbance observer based on flight state estimation; according to the determination part of the aircraft model, designing an attitude controller, adding an anti-disturbance integrator, and forming an integration backstepping attitude controller; replacing a disturbance item in the integration backstepping attitude controller with the output of the disturbance observer to obtain an anti-interference attitude controller; and performing stability analysis on the anti-interference attitude controller to obtain a control parameter value criterion. Compared to the prior art, the anti-interference controller can rapidly reacts to external disturbance and has quite high robustness for continuous and time-varying disturbance; and the external disturbance can be inhibited, the control performance in a severe environment is improved, unfavorable influences brought by an inaccurate mathematics model are reduced, the modeling workload is decreased, and the parameter setting of the anti-interference attitude controller is convenient.

Description

technical field [0001] The invention belongs to the technical field of automatic control, and relates to an anti-interference attitude control method suitable for small unmanned aerial vehicles. Background technique [0002] As a new type of air power, unmanned aerial vehicle (UAV) plays an important role in the field of boring missions, harsh environment missions and dangerous missions. Its application range has also expanded from the initial air reconnaissance to various tasks such as intelligence surveillance, command, electronic warfare, battlefield damage assessment, and fire attack. In several local wars, drones have played an increasingly important role, showing great application prospects. [0003] Small unmanned aerial vehicles have the characteristics of small size, light weight, and low cost, so that they can not only be used in the military field, but also have broad market and application prospects in the civilian field. In the application of small UAVs, the d...

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Problems solved by technology

[0005] 1. The traditional proportional-integral-derivative control (referred to as PID) method: this type of method has the characteristics of simple structure and low dependence on the aircraft model, but the tuning process of its control parameters is relatively complicated and requires continuous trial and error, and this type of method No mechanism against external interference

[0006] 2. Linear quadratic method: The linear quadratic method based on the object state space model is an optimal control method in theory, but in the actual application process, due to the inability to obtain an accurate aircraft model, the control effect of this method Difficult to guarantee, and this method does not consider external interference

[0009] 1. More dependent on the model: Due to the complexity of small unmanned aerial vehicles, especially rotorcraft, the models that can be obtained for control have undergone multiple assumptions and simplifications, and the accuracy is far from the real platform.

For existing control methods, such as linear quadratic method and sliding mode method, the actual control effect will be difficult to guarantee

[0010] 2. Lack of mechanisms against external interference: Most of the external interferences encountered by small UAVs during flight are continuous and time-varying disturbances

These disturbances can even be fatal to small unmanned aerial vehicles in some harsh environments, such as gusts of wind in a small environment. If the flight control system cannot respond quickly, it will pose a great threat to the safety of the aircraft

However, the existing control methods are passively coping with the additional torque brought by orbiting to the aircraft. When the controllers based on these methods face the aforementioned continuous and time-varying disturbances, their control effects and adjustment time will be greatly affected. influences

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