Self-adaption low-order controller for unmanned helicopter

A technology for unmanned helicopters and controllers, applied in adaptive control, general control systems, control/regulation systems, etc., can solve problems such as numerical instability, achieve stable control, and facilitate the handling of control constraints and state constraints

Active Publication Date: 2017-06-13
杭州睿杰智能空中机器人科技有限公司
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Problems solved by technology

Similarly, the least squares method for robust identification also has

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  • Self-adaption low-order controller for unmanned helicopter
  • Self-adaption low-order controller for unmanned helicopter
  • Self-adaption low-order controller for unmanned helicopter

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[0035] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0036] The order of the control object is high (infinite in theory), but the controller design can only be of low order. The controlled object has parameter uncertainty and disturbance uncertainty. The basic form of the controller is (taking PD as an example):

[0037] τ 2 (s) = τ 21 (s)+τ 22 (s)+τ 23 (s)

[0038] In the formula, τ 21 (s)=-(k p +k d s) θ(s),

[0039]

[0040]

[0041] Among them, τ 2 (s) represents the control quantity of the controlled system; τ 21 (s), τ 22 (s), τ 23 (s) represents the control component of the controlled system; k p 、k d 、k i 、k in 、k f represents the controller parameters; θ(t) represents the pitch angle; ω d , ω z , ω f Represents the closed-loop system bandwidth; ξ z , ξ f represents the system damping. Control component τ 21 (s) has a PD control form, which is used to incre...

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Abstract

The invention relates to a self-adaption low-order controller for an unmanned helicopter. The self-adaption low-order controller for the unmanned helicopter comprises a planner, an identifier, a structural filter, an inner mold controller, a dual-ring slip form controller and a control component comprehensive module, wherein the planner is used for monitoring control input and control output of a controlled system, and the identifier is utilized for performing online identification and start the structural filter, the inner mold controller and the dual-ring slip form controller to perform controller parameter correction when homeostatic control output of the controlled system cannot meet a preset requirement; the structural filter is used for performing correction control on a filtering link of the inner mold controller; the inner mold controller is used for performing prediction control on an inner model and feedback correction of the controlled system; the dual-ring slip form controller is used for performing track control on posture angles and posture angular speed; the control component comprehensive module is used for summarizing control components to obtain a control component of the controlled system. The self-adaption low-order controller disclosed by the invention solves the problem of complex high-order dynamic robust control of a space junk capture system in the situations of unknown bounded interference, thrust error and location error and also brings convenience to processing control constraint and state constraint.

Description

technical field [0001] The invention relates to the field of unmanned aerial vehicle control, in particular to an adaptive low-level controller for unmanned helicopters. Background technique [0002] The unmanned helicopter system model is a high-order dynamic system. The design of a high-order controller generally has an order comparable to that of the controlled object model. advanced defects. Therefore, in the design of the control system, it is usually preferred to choose a simple linear controller rather than a complex controller. As long as the final performance error remains within the allowable range, low-order controllers should be looked for. The low-order controller has good engineering realizability and its wide application in industrial control, which can be used as a best combination of theory and practice. In the past ten years, low-level controller design theory and methods have become one of the research hotspots in the domestic and foreign control circle...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 贾杰
Owner 杭州睿杰智能空中机器人科技有限公司
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