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Attitude control method of four-rotor aircraft

A four-rotor aircraft and attitude control technology, applied in the direction of attitude control, etc., can solve the problems that the control performance is difficult to be guaranteed, the non-linear items and the coupling effect of each channel are not considered, and the control effect is poor.

Active Publication Date: 2015-12-09
NAT UNIV OF DEFENSE TECH
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  • Abstract
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  • Application Information

AI Technical Summary

Problems solved by technology

[0003] PID (proportional, integral and differential) control is one of the most commonly used control methods for quadrotor aircraft attitude control. It has the advantages of simple design and easy engineering implementation, but it is difficult to guarantee the control performance when the model parameters and working conditions change.
In the existing research results, the attitude control laws of quadrotor aircraft are mostly designed based on linear models, without considering the nonlinear items and the coupling between channels, and the control effect is poor when there are model uncertainties and external disturbances

Method used

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Embodiment Construction

[0089] A method for attitude control of a quadrotor aircraft, the specific steps of which are as follows:

[0090] Step 1: Give command attitude angle

[0091] The given command attitude angle is Ω r =[0.1rad,0.2rad,-0.05rad] T , θ r 、ψ r , φ r are command pitch angle, yaw angle and roll angle respectively.

[0092] Step 2: Calculate the amount of error

[0093] Calculate the error between the command attitude angle and the actual attitude angle: e=Ω r -Ω=[θ r -θ,ψ r -ψ,φ r -φ] T , where, Ω=[θ,ψ,φ] T is the actual attitude angle, θ, ψ, φ are the actual pitch angle, yaw angle and roll angle respectively, which are continuously changing values.

[0094] Step three:

[0095] 1) Establish a quadrotor aircraft attitude dynamics model

[0096] The attitude kinematics equation of the quadrotor aircraft is:

[0097] Ω · = J ( Ω ) ω - - ...

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Abstract

The invention provides an attitude control method of a four-rotor aircraft. Firstly, an error magnitude is calculated from a given instruction attitude angle and a practical attitude angle, then a sliding mode and an approaching law are selected, and a sliding mode attitude control law is designed; in addition, in order to inhibit buffeting caused by sliding mode control, the sliding mode and a first-order differential of the sliding mode are used as input of a fuzzy logic controller, a control gain is used as output of the fuzzy logic controller, in this way, a self-adaptive fuzzy sliding mode attitude control law is designed, and the control gain is adjusted on line through fuzzy rules. A closed-loop system controlled by the method is capable of being stably adjusted to an instruction attitude angle, the robustness and the control precision are good, and an effective means is provided for engineering realization of attitude control of the four-rotor aircraft.

Description

technical field [0001] The invention belongs to the technical field of automatic control, in particular to an attitude control method of a quadrotor aircraft, which provides a new attitude control method for the quadrotor aircraft. Background technique [0002] As a new type of rotor UAV, the quadrotor aircraft has application characteristics such as flexible deployment, fast maneuvering, and fixed-point hovering. It can realize vertical take-off and landing, omnidirectional flight, and fixed-point hovering in a narrow space. By carrying imaging equipment, It can be widely used in reconnaissance and surveillance, earth observation, environmental monitoring, disaster rescue, traffic supervision, aerial photography and other fields, and has important application value and broad application prospects. The above applications all require high-precision automatic flight control, among which attitude control is the most basic control requirement for the stable flight of quadrotor a...

Claims

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Application Information

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IPC IPC(8): G05D1/08
Inventor 杨跃能闫野窦天恒黄振新
Owner NAT UNIV OF DEFENSE TECH
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