Four-rotor aircraft control method based on PID neural network (PIDNN) control

A quadrotor aircraft, neural network technology, applied in attitude control, adaptive control, general control system and other directions

Inactive Publication Date: 2015-07-08
BEIHANG UNIV
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  • Application Information

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Problems solved by technology

Since the quadrotor aircraft has only 4 driving forces but needs to complete the movement of 6 degrees of free...

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  • Four-rotor aircraft control method based on PID neural network (PIDNN) control
  • Four-rotor aircraft control method based on PID neural network (PIDNN) control
  • Four-rotor aircraft control method based on PID neural network (PIDNN) control

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Embodiment Construction

[0080] The technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings and examples of the present invention.

[0081] The present invention builds a quadrotor aircraft prototype, and applies the control method proposed by the present invention in the control system of the quadrotor aircraft. The main modules of the control system include the main controller module, sensor module, navigation module, motor control module, communication module and data acquisition module, etc. The hardware structure is as follows: Figure 5 shown.

[0082] Main controller module: the core processor of the flight control system, which is the core control part of the entire system, mainly responsible for collecting the attitude angle rate (pitch angle rate, roll angle rate and yaw angle rate) detected by the sensor, three-axis Based on the detected flight information, combined with the established con...

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Abstract

The invention discloses a four-rotor aircraft control method based on PID neural network (PIDNN) control. First, dynamic equations of a four-rotor aircraft are established based on the Newton-Euler equations, and then, a nested controller is proposed. An inner loop decentralized controller is designed based on a PIDNN method to realize attitude control, and the outer loop adopts a classical PID control method. Next, online learning of a PIDNN controller is realized by an error back propagation method, the connection initial weight of PIDNN is determined based on the principle of PID control, and an appropriate learning step is selected according to the discrete Lyapunov theory to guarantee the convergence of the controller. Thus, the control problem of a four-rotor aircraft caused by high degree of nonlinearity, strong coupling and under-actuating capability, disturbance from the external environment in the process of flight and other factors can be effectively solved.

Description

technical field [0001] The invention relates to the technical field of aircraft automatic control, and realizes flight control of a quadrotor aircraft based on a PID neural network control (PIDNN) method. Background technique [0002] Quadrotor aircraft, as a kind of vertical take-off and landing UAV series, has been more and more widely used in military and civilian fields. Compared with fixed-wing aircraft, quadrotor aircraft has the characteristics of low-altitude flight and fixed-point hovering. Compared with traditional helicopters, quadrotor aircraft has the characteristics of simple structure, strong maneuverability, small size, low cost and good concealment. These properties allow quadrotors to fly efficiently and reliably in confined spaces. [0003] A quadrotor aircraft consists of a fuselage and four rotors, such as figure 1 shown. Power is provided by four rotors, divided into two groups: (1,3) and (2,4), which turn in opposite directions to counteract the ae...

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Application Information

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IPC IPC(8): G05B13/04G05D1/08G05D1/10
Inventor 何勇灵陈彦民
Owner BEIHANG UNIV
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