Four-rotor aircraft attitude control method and system based on sliding-mode control law and ESO

A quadrotor aircraft, attitude control technology, applied in attitude control, control/adjustment system, non-electric variable control and other directions, can solve problems such as unsatisfactory control effect, and achieve the effect of good tracking performance and strong anti-interference ability

Active Publication Date: 2017-01-11
NANJING TOPXGUN INST OF AUTOPILOT TECH CO LTD
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Problems solved by technology

For example, the sliding mode control has good robustness, but because this type of controller does not observe the system disturbance in real time, when the disturbance is large, its control effect is not ideal.

Method used

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  • Four-rotor aircraft attitude control method and system based on sliding-mode control law and ESO
  • Four-rotor aircraft attitude control method and system based on sliding-mode control law and ESO
  • Four-rotor aircraft attitude control method and system based on sliding-mode control law and ESO

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Embodiment Construction

[0115] The present invention will be described in further detail below through specific embodiments and in conjunction with the accompanying drawings.

[0116] Such as figure 1 As shown, the present invention provides a kind of quadrotor aircraft attitude control based on sliding mode control law and ESO, comprising:

[0117] S110: Obtain a sliding mode control model according to the parameters of the quadrotor aircraft dynamics model, construct a sliding mode surface according to the sliding mode control model, and obtain a sliding mode control law according to the sliding mode surface, so as to realize the control of the three attitude angle loops of the quadrotor aircraft;

[0118] S120: Establish ESO according to the roll angle, pitch angle or yaw angle of the quadrotor, and use ESO to estimate the total disturbance of the system in real time;

[0119] S130: Combining the sliding mode control model with the ESO to control the attitude of the quadrotor aircraft.

[0120] ...

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Abstract

The invention relates to the technical field of automatic control, in particular to a four-rotor aircraft attitude control method and system based on sliding-mode control law and ESO. The method includes: using a sliding-mode control method to the three attitude angle loops of four rotors; using the ESO to estimate total system disturbance in real time; combining the sliding-mode control with the ESO to achieve attitude control of a four-rotor aircraft. Compared with an existing attitude control method, the method has the advantages that attitude stability of the four-rotor aircraft can be achieved, good tracking performance on attitude angle instructions is achieved, and high disturbance resistance is achieved as compared with common sliding-mode control.

Description

technical field [0001] The invention relates to the technical field of automatic control, in particular to a method and system for attitude control of a quadrotor aircraft based on sliding mode control law and ESO. Background technique [0002] Quadrotor unmanned aerial vehicles have a wide range of uses in military, industrial, and civilian fields. They have broad application prospects in the fields of surveillance, electronic jamming, weapon attacks, traffic surveillance, forest fire prevention, geological exploration, disaster search and rescue, and aerial photography. The above applications all require high-precision automatic flight control, among which attitude control is the most basic control requirement for the stable flight of quadrotor aircraft. The attitude motion of quadrotor aircraft is strongly coupled, multivariable and nonlinear. Uncertainty and other characteristics, and susceptible to external interference, therefore, attitude control is the key technolog...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08
CPCG05D1/0825
Inventor 尹亮亮龙诗科李少斌张羽
Owner NANJING TOPXGUN INST OF AUTOPILOT TECH CO LTD
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