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Control method of UAV front wheel steering based on command filter

A front wheel steering and control method technology, applied in general control systems, control/regulation systems, instruments, etc., can solve problems such as unfavorable control design and evaluation, difficult conversion methods, and lack of actual physical meaning.

Active Publication Date: 2017-08-25
BEIHANG UNIV
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Problems solved by technology

However, since the state variables of the new system after conversion will be different from those of the original system and lack actual physical meaning, it is difficult to correspond the operator's experience with the mathematical coordinates
For example, in the control system, the yaw rate and sideslip angle are often used as state variables. If they are converted into new variables, they will lack intuitive meaning, which is not conducive to control design and evaluation
Furthermore, such transformations that rely on derivatives are difficult to implement when there are unknown parts of the system

Method used

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  • Control method of UAV front wheel steering based on command filter
  • Control method of UAV front wheel steering based on command filter
  • Control method of UAV front wheel steering based on command filter

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[0093] The application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain related inventions, rather than to limit the invention. It should also be noted that, for the convenience of description, only the parts related to the related invention are shown in the drawings.

[0094] It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and embodiments.

[0095] figure 1 A system block diagram of an embodiment of the method for controlling the steering of the front wheel of the UAV based on the instruction filter of the present application is shown.

[0096] Such as figure 1 As shown, the UAV front wheel steering control me...

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Abstract

The application discloses an unmanned aerial vehicle front wheel steering control method based on an instruction filter. A yaw rate error signal is calculated according to an unmanned aerial vehicle yaw rate instruction and measured yaw rate information; amplitude limiting, speed limiting and bandwidth limiting are performed on a virtual control signal by means of the instruction filter; the parameter self-adaptive updating process is ensured to be stable through a compensation yaw rate error signal; and finally the control law of front wheel control moment is calculated through self-adaptive backstepping operation. According to the scheme, calculation is easy and the controlled unmanned aerial vehicle is ensured to operate in a safety envelope.

Description

technical field [0001] The present application relates to the field of unmanned aerial vehicles (UAVs) ground roll control, and in particular to a method for controlling the steering of the front wheels of an unmanned aerial vehicle based on command filters. Background technique [0002] The fixed-wing UAV uses the front wheel steering system to control the steering of the UAV during the landing process and the ground taxiing phase. There are two types of transmission modes of the front wheel control system: hydraulic transmission and electric transmission. By changing the steering angle of the front wheels, the steering of the UAV on the ground is completed. For UAVs, the steering task is completed by remote control or autonomous control of the UAV. [0003] UAV maneuvering on the ground is not only subject to ground traction or engine thrust, but also longitudinal and lateral friction between the tire and the ground, as well as the aerodynamic force of the body and rudde...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B17/02
CPCG05B17/02
Inventor 焦宗夏陈必华尚耀星刘晓超
Owner BEIHANG UNIV
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