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Unmanned plane attitude control filtering unit and method

A filtering unit and aircraft attitude technology, applied in attitude control and other directions, can solve problems such as insufficient consideration of multi-source interference

Active Publication Date: 2016-06-22
山东中宇航空科技发展有限公司
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Problems solved by technology

[0004] The technical problem of the present invention is: to overcome the problem that the existing attitude control method for UAVs does not fully consider the multi-source interference, and to design a UAV attitude control filtering unit and method

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  • Unmanned plane attitude control filtering unit and method
  • Unmanned plane attitude control filtering unit and method
  • Unmanned plane attitude control filtering unit and method

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Embodiment Construction

[0029] Such as figure 1 Shown is a schematic diagram of the UAV attitude control filter unit and method of the present invention. The filter unit of the present invention includes a UAV attitude control mathematical model, an anti-interference filter and an optimal controller; the anti-interference of the present invention The filtering method first establishes a UAV attitude mathematical model that considers a variety of interference torques and noises, and uses its output as the input of the designed anti-interference filter, the estimated value of state variables in the UAV attitude mathematical model and the mathematics of external interference torque The estimated values ​​of the model state variables are sent to the optimal controller designed, and the output of the optimal controller is turned over to the anti-interference filter and the mathematical model of the UAV attitude control loop for feedback control.

[0030] Such as figure 2 As shown, the flow chart of the anti...

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Abstract

The invention discloses an unmanned plane attitude control filtering unit and method, and relates to a design for an anti-interference filtering method for unmanned plane attitude control. The invention aims at multi-source interference of an unmanned plane, such as atmosphere turbulence force moment, execution mechanism noise, measurement noise, and model nondeterminacy. The method comprises the steps: firstly building an unmanned plane attitude mathematic model comprising the multi-source interference; secondly building a multi-source interference moment mathematic model; thirdly designing an anti-interference filter for the unmanned plane attitude; finally designing an optimal controller, and carrying out feedback control. The method is strong in anti-interference capability, is high in control precision, and can be used for unmanned plane attitude control.

Description

Technical field [0001] The invention relates to a UAV attitude control filter unit and method, which can be applied to the UAV attitude control containing multi-source interference such as atmospheric turbulence moment, actuator noise, measurement noise and model uncertainty. Background technique [0002] The small unmanned rotorcraft has the characteristics of vertical take-off and landing, hovering, etc., and can perform tasks in narrow spaces such as urban streets and has a wide range of application prospects. With the expansion of application fields, the demand for intelligence of small unmanned gyroplanes is also increasing. Fully autonomous and highly intelligent small unmanned gyroplanes have become a research focus. As a complex multi-input multi-output control system, the small unmanned rotorcraft has the characteristics of strong coupling, nonlinearity, high control difficulty, and complex dynamic modeling. High-precision models are the basis for further high-precision...

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Application Information

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IPC IPC(8): G05D1/08
CPCG05D1/08
Inventor 高卫东高靖轩
Owner 山东中宇航空科技发展有限公司
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