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Small unmanned helicopter adaptive attitude control method of dynamic-model-free structure

A technology of unmanned helicopters and control methods, which is applied in the field of flight control research of small single-rotor unmanned helicopters, and can solve the problem of model dependence

Active Publication Date: 2016-06-15
TIANJIN UNIV
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Problems solved by technology

However, the existing nonlinear control methods are highly dependent on the model of the system, but no matter how complex the system model is, its input and output data can be obtained, so consider adopting data-driven control technology

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  • Small unmanned helicopter adaptive attitude control method of dynamic-model-free structure
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  • Small unmanned helicopter adaptive attitude control method of dynamic-model-free structure

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Embodiment Construction

[0088] In order to avoid the heavy dependence on the system model when designing the controller and the robustness analysis problem under unmodeled dynamics, the present invention adopts the theoretical method of model-free structure self-adaptation to design a new type of model-free structure self-adaptive sliding mode control The controller has stability characteristics such as quasi-sliding mode and input boundedness. The designed controller only needs the input and output data of the system to realize the attitude control of the unmanned helicopter. From the attitude model of the unmanned helicopter, it can be known that the unmanned helicopter has strong coupling in the pitch and roll directions, while the yaw direction is relatively independent. A single-input-single-output system was used for analysis.

[0089] It should be noted that the present invention uses superscripts and subscripts to represent the whole variable, because the analyzed systems are all discrete sys...

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Abstract

The invention belongs to the field of small single-rotor unmanned helicopter flight control research, and designs a novel model-free adaptive sliding mode controller to avoid severe reliability to a system model and the robustness analysis problem under unmodeled dynamics during design of a controller. The designed controller has the stability characteristics such as quasi-sliding modes and bounded inputs, and can control the attitude of an unmanned helicopter with only input and output data of a system. According to the technical scheme, a model-free structure adaptive sliding mode control method for controlling the attitude of a small unmanned helicopter conducts multi-input multi-output system analysis on pitch and roll channels and single-input single-output system analysis on a yaw channel. The method comprises the following steps: 1, multi-input multi-output system analysis on the pitch and roll channels; 2, single-input single-output system analysis on the yaw channel; and 3, controller design and stability analysis. The method is mainly applied to small single-rotor unmanned helicopter flight control research occasions.

Description

technical field [0001] The invention belongs to the field of flight control research of small single-rotor unmanned helicopters. Specifically, it relates to a model-free structure adaptive sliding mode control method for the attitude of an unmanned helicopter. Background technique [0002] Small unmanned helicopters are special aircraft that do not need to be piloted and can complete autonomous flight tasks. This type of aircraft has many characteristics such as vertical take-off and landing, low-altitude flight, etc., and has been widely used in various fields. At the same time, due to the characteristics of strong coupling, complex dynamic characteristics, and nonlinearity of unmanned helicopters, it is difficult to analyze the dynamics and control design of unmanned helicopters. [0003] In recent years, the flight control of unmanned helicopters has attracted extensive attention from scholars at home and abroad. Linear control such as: LQR (Linear Quadratic Regulator:...

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Application Information

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IPC IPC(8): G05D1/08
CPCG05D1/08
Inventor 鲜斌周海雷
Owner TIANJIN UNIV
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