Four-rotor aircraft sliding mode variable structure control method based on inversion method

A four-rotor aircraft, sliding mode variable structure technology, applied in the field of aircraft control, can solve problems such as poor control effect, instability of quad-rotor aircraft, and increased uncertainty of system parameters

Inactive Publication Date: 2016-07-13
WUHAN UNIV OF SCI & TECH
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Problems solved by technology

To design a separate sliding mode controller for the aircraft, the attitude angle needs to be derived from high-order nonlinear constraint

Method used

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

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Embodiment Construction

[0127] Below in conjunction with accompanying drawing and example the present invention will be further described.

[0128] A sliding mode variable structure control method for quadrotor aircraft based on inversion method, such as figure 1 As shown, the controller adopts double closed-loop control, which are the inner attitude loop and the outer position loop respectively, and the desired trajectory of the quadrotor aircraft is given Then the roll angle γ that needs to be rotated is calculated by the inversion control algorithm d and pitch angle θ d , combined with the three attitude angles of the aircraft, the current control law obtained through the sliding mode control algorithm is sent to the dynamic model of the quadrotor aircraft, and the resulting state variables are fed back to the position loop and attitude loop to control the stable flight of the quadrotor aircraft . figure 2 A schematic diagram of a quadrotor aircraft.

[0129] In the above-mentioned technical...

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Abstract

The invention discloses a four-rotor aircraft sliding mode variable structure control method based on an inversion method. The four-rotor aircraft sliding mode variable structure control method comprises the steps that firstly, a four-rotor aircraft kinetic model is analyzed and simplified and is systematically decomposed into an all-wheel-drive subsystem and an under-actuation subsystem; further, the inversion control method is utilized to derive a sliding mode control face with a sliding mode variable structure control theory as a basis, control laws are designed for the two subsystems, and the system stability is verified through a Lyapunov stability theory; finally, a controller of a four-rotor aircraft is designed out. The four-rotor aircraft sliding mode variable structure control method is integrated with the inversion method, is used for controlling spot hover and trajectory tracking control of the aircraft, analyzes the dynamic nature and the stability of the aircraft, effectively improves the response speed and control accuracy of the four-rotor aircraft and improves anti-interference performance of a system.

Description

technical field [0001] The invention relates to a sliding mode variable structure control method for a four-rotor aircraft based on an inversion method, and belongs to the technical field of aircraft control. Background technique [0002] In recent years, quadrotor aircraft has gradually become a research hotspot for scholars in the aviation field. As an unmanned aerial vehicle, due to its unique advantages and relatively small requirements for the environment and site, it has become more and more widely used in military and civilian fields. The more extensive, including reconnaissance, environmental monitoring, power inspection, aerial photography, disaster relief, etc. Changing the rotation speed of the four propellers of the quadrotor aircraft can change various flight attitudes and realize six-degree-of-freedom movements such as vertical lift, fixed-point hovering, and trajectory tracking. At present, scholars have made a lot of achievements in the aircraft. However, th...

Claims

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Application Information

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IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0816G05D1/101
Inventor 吴怀宇牛洪芳陈鹏震程果龙文王正熙
Owner WUHAN UNIV OF SCI & TECH
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