Nested saturation nonlinear design method of four-rotor wing unmanned aerial vehicle control system

A technology of four-rotor UAV and control system, which is applied in computing, special data processing applications, instruments, etc., and can solve problems such as unsatisfactory control effects

Active Publication Date: 2016-08-31
成都川哈工机器人及智能装备产业技术研究院有限公司
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AI Technical Summary

Problems solved by technology

[0004] In order to solve the problem that the control effect of the current four-rotor unmanned aerial vehicle control system with actuator saturation is not ideal enough, the present invention proposes a nested saturation nonlinear design method for the four-rotor unmanned aerial vehicle control system

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  • Nested saturation nonlinear design method of four-rotor wing unmanned aerial vehicle control system
  • Nested saturation nonlinear design method of four-rotor wing unmanned aerial vehicle control system
  • Nested saturation nonlinear design method of four-rotor wing unmanned aerial vehicle control system

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specific Embodiment approach 1

[0024] Specific embodiment one: the nested saturated nonlinear design method of the quadrotor unmanned aerial vehicle control system of the present embodiment, comprises the following steps:

[0025] Step 1: Perform state transformation on the control system of the quadrotor UAV, and transform it into a feed-forward nonlinear control system;

[0026] Step 2: Design the nested saturated nonlinear control law of the quadrotor UAV pitch channel control system

[0027] τ θ = - ϵ 4 θ r θ σ [ r θ λ θ w 4 ϵ 4 θ + ...

specific Embodiment approach 2

[0038] Specific implementation mode two: the specific process of converting the quadrotor unmanned aerial vehicle control system into a feed-forward nonlinear control system described in step one of the present embodiment is as follows:

[0039] For such as figure 1 The quadrotor UAV system shown is modeled as

[0040] m X ·· = u ( c o s ( φ ) c o s ( ψ ) s i ...

specific Embodiment approach 3

[0089] Specific implementation mode three: the specific design process of designing the nested saturated nonlinear control law of the pitch channel control system in step two of this implementation mode is as follows:

[0090] Step 3.1: Define the general saturation function:

[0091] σ ε ( ) is a general saturation function, defined as follows

[0092] σ ϵ ( x ′ ) = ϵ , x ′ > ϵ x ′ , - ϵ ...

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Abstract

The invention provides a nested saturation nonlinear design method of a four-rotor wing unmanned aerial vehicle control system and relates to a nested saturation nonlinear design method of an unmanned aerial vehicle control system. In order to solve the problem of non-ideal control effect of the conventional four-rotor wing unmanned aerial vehicle control system with actuator saturation. The nested saturation nonlinear design method comprises the following steps: firstly performing state change on the four-rotor wing unmanned aerial vehicle control system, converting the four-rotor wing unmanned aerial vehicle control system into a feedforward nonlinear control system; then respectively designing a nested saturation nonlinear control law Tau theta of a pitch channel control system and a nested saturation nonlinear control law of a cross roll channel control system. The nested saturation nonlinear design method provided by the invention is suitable for the global stabilization of the four-rotor wing unmanned aerial vehicle control system.

Description

technical field [0001] The invention relates to a nested saturation nonlinear design method of a UAV control system. Background technique [0002] Since the 1940s and 1950s, modern control theory has developed rapidly. Scholars from various countries have proposed various advanced control methods, which have also been widely used in industrial control. However, most of these control methods are based on the theoretical framework of linear systems, and real linear systems do not exist in actual control engineering, which limits the application of modern control theories. In fact, any engineering control system exhibits nonlinear characteristics without exception, and one of the typical nonlinear characteristics is actuator saturation nonlinearity. Almost all control systems are limited by actuator saturation due to physical constraints and safety requirements. For example, the horizontal steering of the aircraft is controlled by the vertical tail, and its amplitude and spee...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/50
CPCG06F30/15
Inventor 周彬李鸿儒杨雪飞
Owner 成都川哈工机器人及智能装备产业技术研究院有限公司
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