Complex attitude adaptive control method after multi-rotor aircraft captures target

A multi-rotor aircraft, adaptive control technology, used in attitude control, non-electric variable control, control/regulation systems, etc.

Inactive Publication Date: 2017-04-19
上海铸天智能科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] The technical problem to be solved by the present invention: Aiming at the problem that the multi-rotor aircraft uses its own mechanical arm to capture the unknown target, a complex attitude adaptive control method after the multi-rotor aircraft captures the target is proposed

Method used

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  • Complex attitude adaptive control method after multi-rotor aircraft captures target
  • Complex attitude adaptive control method after multi-rotor aircraft captures target
  • Complex attitude adaptive control method after multi-rotor aircraft captures target

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Embodiment Construction

[0020] In order to make the technical means, creative features, goals and effects achieved by the present invention easy to understand, the present invention will be further described below in conjunction with specific illustrations.

[0021] Referring to the accompanying drawings, a complex attitude adaptive control method after a multi-rotor aircraft captures a target of the present invention is characterized in that it comprises the following steps:

[0022] Step S1, determining the speed, position, attitude angle, and position of the target to be captured by the multi-rotor aircraft before capturing the target, and determining the speed, position, and attitude angle of the complex formed by the multi-rotor aircraft and the captured target;

[0023] Step S2, establishing a dynamic equation of the complex according to the parameters determined in step S1, and calculating the dynamic state of the complex through the kinetic equation;

[0024] Step S3, in the adaptive control ...

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Abstract

The invention discloses a complex attitude adaptive control method after a multi-rotor aircraft captures a target. After the multi-rotor aircraft captures an unknown target, the attitude change of the aircraft and the main connection rod attitude control of an airborne manipulator are used for completing the whole attitude adaptive control. Firstly, Lagrangian dynamics modeling is used for completing dynamics equation modeling on the whole complex after the target is captured; then, according to the special features of the Lagrangian dynamics, an attitude adaptive control algorithm is brought forward and proved; and finally, on the basis of parameter identification on the dynamics of the captured target, the whole complex attitude adaptive control after capturing is completed.

Description

technical field [0001] The invention relates to the technical field of multi-rotor aircraft control, in particular to a complex attitude adaptive control method after the multi-rotor aircraft captures a target. Background technique [0002] Unlike traditional single-rotor helicopters, the unique symmetrical layout of multi-rotor aircraft does not need to change the pitch to provide the main lift and torque required in flight, so that it can quickly switch between position movement and hovering at any time; except In addition, its small-sized propeller design greatly improves the stealth of flight and the safety of flight in unknown environment. Therefore, in recent years, multi-rotor aircraft has attracted extensive attention from domestic and foreign scholars and scientific research institutions due to its unique flight stability, simple structure, easy control and high safety performance, and has quickly become one of the current international research hotspots. . [000...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08
CPCG05D1/0816
Inventor 白佶斌
Owner 上海铸天智能科技有限公司
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