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Four-rotor flight control method based on sliding mode variable structure

A sliding mode variable structure and flight control technology, applied in attitude control and other directions, can solve problems such as poor system robustness

Inactive Publication Date: 2015-12-16
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

Although the flight control system based on the dynamic inverse control of the accurate model can obtain better dynamic characteristics, in the case of parameter uncertainty and external disturbance, the system robustness obtained only by dynamic inverse control is poor.

Method used

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  • Four-rotor flight control method based on sliding mode variable structure
  • Four-rotor flight control method based on sliding mode variable structure
  • Four-rotor flight control method based on sliding mode variable structure

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Embodiment Construction

[0057] The present invention will be further described below in conjunction with the accompanying drawings.

[0058] A four-rotor flight control method based on sliding mode variable structure,

[0059] Firstly, the control principles of dynamic inverse and sliding mode variable structure are expounded respectively.

[0060] The dynamic inverse method essentially cancels the nonlinear part of a system by introducing an appropriate nonlinear input, and replaces it with an expected dynamic model (usually linear). The dynamic inverse method is mainly used to eliminate the nonlinear factors of the system and realize the decoupling control of the multivariable nonlinear system.

[0061] Let the nonlinear description of the system be:

[0062] x · = f ( x ) + g ( x ) u

[0063] In the formula,...

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Abstract

The invention discloses a four-rotor flight control method based on a sliding mode variable structure. First, based on the fact that controlled variables respond to control input at different speeds, the controlled variables are classified as very fast variables, fast variables and slow variables, and a four-rotor unmanned helicopter dynamics model is divided into three subsystems, namely, a very fast loop system, a fast loop system and a slow loop system; then, a control law based on a dynamic inversion control method is designed for the very fast loop system, the fast loop system and the slow loop system respectively; and finally, a control law based on a variable sliding mode structure control method is designed for the very fast loop system, the fast loop system and the slow loop system respectively to enhance the robustness of the system to parameter perturbation and external disturbance. The method of the invention can improve the static characteristic and dynamic characteristic of four-rotor unmanned helicopters.

Description

technical field [0001] The invention discloses a four-rotor unmanned helicopter flight control method based on sliding mode variable structure, and belongs to the technical field of autonomous flight control of remote-controlled model (unmanned) multi-rotor helicopters. Background technique [0002] The multi-rotor unmanned helicopter is an unmanned aerial vehicle with simple structure, easy control, vertical take-off and landing, and stable hovering state. Multi-rotor unmanned helicopters can be roughly divided into three-axis, four-axis, six-axis and eight-axis according to the number of arms. In addition to the three-axis structure, each arm of other structures can adopt a single-layer rotor layout or a double-layer rotor layout. . Different numbers of arms and rotors of multi-rotor aircraft can achieve different load capacities. Multi-rotor unmanned helicopters have extremely high controllability, maneuverability and stability, and have the characteristics of low noise...

Claims

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Application Information

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IPC IPC(8): G05D1/08
Inventor 孙一力甄子洋王新华覃海群王硕
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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