Unlock instant, AI-driven research and patent intelligence for your innovation.

Longitudinal decoupling control method for multi-control surface UAV based on model predictive control

A technology of model predictive control and surface drone control, which is applied in attitude control and other directions, can solve the problem of non-existence of multi-operation surface drones, and achieve the effect of easy implementation, small amount of calculation, and decoupling control

Active Publication Date: 2018-01-30
SHANDONG UNIV OF SCI & TECH
View PDF4 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, there is currently no technical solution for the decoupling control of pitch attitude and altitude trajectory of multi-operation surface UAVs in the existing technology. It can be seen that the existing technology needs further improvement

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Longitudinal decoupling control method for multi-control surface UAV based on model predictive control
  • Longitudinal decoupling control method for multi-control surface UAV based on model predictive control
  • Longitudinal decoupling control method for multi-control surface UAV based on model predictive control

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0052] Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:

[0053] combine figure 1 and figure 2 As shown, the longitudinal decoupling control method of multi-control surface UAV based on model predictive control includes steps:

[0054] aAccording to the longitudinal state space model of the UAV with multiple control surfaces, a dual prediction window model based on the state transition matrix is ​​established to obtain the predicted values ​​of altitude and pitch angle at the next moment

[0055] The expression of the multi-control surface UAV longitudinal state space model is:

[0056]

[0057] In the formula, the flight state vector x(t)=[V xt ,V yt ,ω z ,x d ,h,θ] T , these six states are respectively the components V of the flight speed in the x-direction and y-direction of the drone body axis xt and V yt , Pitch angular velocity ω z , forward flight distance x d , flight height h an...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention belongs to the field of unmanned aerial vehicle flight control, and specifically discloses a longitudinal decoupling control method for a multi-control surface unmanned aerial vehicle based on model predictive control. The inventive method comprises the following steps: (1) according to the longitudinal state space model of multi-control surface unmanned aerial vehicle, set up the dual prediction window model based on state transition matrix, to obtain the predicted value of height and pitch angle at next moment; (2) According to the deviation between the command value vector of height and pitch angle and its predicted value vector at the next moment, the objective function is established; (3) the objective function is solved, and then the output of the double prediction window model predictive control algorithm is obtained. The method of the present invention makes full use of the difference in pitch angle and height response speed in the longitudinal flight state of the UAV, and combines the predictive control algorithm based on the double prediction window model to realize the decoupling control of the pitch angle attitude and the height trajectory. The provided method calculates Small quantity, easy to implement.

Description

technical field [0001] The invention belongs to the field of unmanned aerial vehicle flight control, and in particular relates to a longitudinal decoupling control method for a multi-control surface unmanned aerial vehicle based on model predictive control. Background technique [0002] Traditional UAVs generally have three conventional control surfaces of aileron, rudder, and elevator to realize roll control, yaw control, and pitch control respectively. Taking longitudinal flight control as an example, the traditional flight control method is: the pitching moment around the center of mass is generated by the deflection of the elevator, so that the pitch angle of the UAV changes, thereby changing the aerodynamic force acting on the UAV, and then changing the UAV. Flight altitude trajectory. It can be seen that according to this flight control method, the UAV's pitch attitude control and altitude trajectory control are coupled together. To achieve the desired flight height, ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/08
Inventor 盖文东张婧张桂林李玉霞张志献
Owner SHANDONG UNIV OF SCI & TECH