Attitude control method based on pid controller and l1 adaptive controller
An adaptive controller and attitude control technology, applied in the direction of adaptive control, attitude control, general control system, etc., can solve the problem of inability to obtain mathematical model attitude control, and achieve the effect of strong robustness
Active Publication Date: 2018-12-25
成都优艾维智能科技有限责任公司 +1
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[0004] The object of the present invention is to solve the above-mentioned problem of attitude control when an accurate and complete mathematical model cannot be obtained and external disturbances exist, and provide real-time online compensation system model deviation and external disturbances using an adaptive strategy to realize control of the aircraft. Attitude Control Method Based on PID Controller and L1 Adaptive Controller for Stability Control of Attitude System
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[0044] The present invention will be further described below in conjunction with accompanying drawing:
[0045] Such as figure 1 As shown, each physical quantity refers to respectively, and the expected reference input vector of the system is η d =(ψ d ,θ d ,φ d ) T , ψ d is the desired yaw angle, θ d is the desired pitch angle, φ d is the desired roll angle; η is the actual Euler angle vector of the aircraft; τ PID Control the output vector for the PID controller; τ L1 is the control output vector of the L1 adaptive controller after low filtering; τ=τ PID +τ L1 is the total control input of the attitude system; ω is the actual angular velocity value of the attitude system; ω p is the state of the state estimator of the L1 adaptive controller.
[0046] The desired attitude angle η d Make a difference with the actual attitude angle η detected by the attitude system at that time, and send it to the PID controller to obtain the output τ of the PID controller PID ; T...
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The invention discloses an attitude control method based on a PID controller and an L1 self-adaptive controller. The PID controller is used for stably controlling an aircraft attitude system under the expected condition; the L1 self-adaptive controller is used for evaluating disturbance error in the attitude system in real time and quickly compensating the evaluated disturbance error. According to the attitude control method based on the PID controller and the L1 self-adaptive controller, the PID controller and the L1 self-adaptive controller are used for compensating internal disturbance caused by modeling error and external disturbance on the aircraft by the flight environment, so that the aircraft attitude can be stably controlled under the conditions that an aircraft accurate mathematic model cannot be obtained and external disturbance exists, and high robustness is achieved.
Description
technical field [0001] The invention relates to aircraft attitude control technology, in particular to an attitude control method based on a PID controller and an L1 adaptive controller. Background technique [0002] UAVs mainly refer to unmanned aerial vehicles. At present, UAVs have been widely used in military and civilian fields, such as military reconnaissance, air patrol and search and rescue, transportation and release of emergency materials, urban planning, meteorological observation, forest fire prevention, agricultural plant protection, power lines and oil pipelines. Inspection, film and television aerial photography, entertainment, etc. Since there is no need for a driver on the drone, casualties during the mission can be completely avoided. Operators can view the images and status information sent back by the drone in real time at the ground control center, and detect the progress and completion effect of the drone mission. . With the rapid development of unma...
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IPC IPC(8): G05B13/04G05D1/08
CPCG05B13/042G05D1/0808
Inventor 张洪斌
Owner 成都优艾维智能科技有限责任公司