A method and device for constructing a mathematical model based on a quadcopter

A quadcopter and mathematical model technology, applied in the field of aircraft control, can solve problems such as aircraft control loss of stability

Inactive Publication Date: 2020-01-07
GUANGDONG UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Under load conditions, the aircraft control loses stability under the action of external forces

Method used

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  • A method and device for constructing a mathematical model based on a quadcopter
  • A method and device for constructing a mathematical model based on a quadcopter
  • A method and device for constructing a mathematical model based on a quadcopter

Examples

Experimental program
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no. 1 example

[0140] Such as figure 1 , a kind of first embodiment of the mathematical model building method based on quadcopter of the present invention, comprises:

[0141] 101. Obtain the mathematical model of the quadcopter, and split it into a first kinematics model and a first dynamics model;

[0142] The first kinematic model includes:

[0143] The first kinetic model includes:

[0144] 102. Construct the combined external force expression of the quadcopter load;

[0145] The resulting external force expressions include: in is the absolute speed of the load, M L is the weight of the load;

[0146] In this embodiment, in addition to the weight of the quadcopter itself, the weight loaded by the quadcopter is included in the calculation, which is more suitable for practical applications.

[0147] 103. Decompose the combined external force expression according to the X, Y and Z axis directions to obtain the combined external force influence factor;

[0148] Factors affectin...

no. 2 example

[0170] Such as figure 2 , a second embodiment of a method for constructing a mathematical model based on a quadcopter of the present invention, comprising:

[0171] 201. Obtain the mathematical model of the quadcopter, and split it into a first kinematics model and a first dynamics model;

[0172] 202. Construct the combined external force expression of the quadcopter load;

[0173] 203. Decompose the combined external force expression according to the X, Y and Z axis directions to obtain the combined external force influence factor;

[0174] 204. Integrate the first kinematics model, the combined external force influence factor and the preset first environmental disturbance factor to obtain a second kinematics model;

[0175] In this embodiment, steps 201-204 have the same content as steps 101-104 in Embodiment 1, and the effect is the same, so no further description is given.

[0176] 205. Verify the controllability of the second kinematics model;

[0177] Verify the co...

no. 3 example

[0190] Such as image 3 , a third embodiment of a method for building a mathematical model based on a quadcopter of the present invention, comprising:

[0191] 301. Extract the mathematical expression of the Z-axis height position from the second kinematics model;

[0192] 302. Calculate the first adaptive control parameters respectively according to the mathematical expression of the Z-axis height position;

[0193] 303. Construct a first control system according to a first adaptive control parameter;

[0194] The first control system includes:

[0195] a first controller and a first adaptive rate;

[0196] The first controller includes:

[0197]

[0198] First adaptive rate:

[0199]

[0200]

[0201]

[0202] Among them, ∧ z , ∧ z1 , Γ z , Γ z1 Ω z ,Ω z1 , c 21 and c 22 is a positive control parameter, Φ z0 ,D z0 , Ψ z0 is the initial value when designing the parameters.

[0203] In this embodiment, steps 301-302 are the same as steps 2051-2052 in...

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Abstract

The invention discloses a mathematical model construction method based on a four-axis aircraft and a device. A four-axis aircraft mathematical model with load is generated; depending on the mathematical model, an advanced adaptive control algorithm is used and the adaptive rate of the model and an adaptive controller under the control rate are designed, thereby realizing a real-time stably controlled four-axis aircraft. The construction method comprises steps of acquiring the mathematical model of the four-axis aircraft and disassembling the mathematical model into a first kinetics model and a first dynamics model; constructing a resultant external force expression of the four-axis aircraft load; decomposing the resultant external force expression in directions of X, Y and Z axes to obtain a resultant external force influence factor; integrating the first kinetics model, the resultant external force influence factor and a preset first environment interference factor to obtain a second kinetics model; constructing a torque expression of the four-axis aircraft load; and decomposing the torque expression in directions of X, Y and Z axes to obtain a torque influence factor.

Description

[0001] This application claims the priority of the patent No. 201610657114.2, the application date is August 11, 2016, and the patent name is "a mathematical model construction method and device based on a quadcopter". technical field [0002] The invention relates to the technical field of aircraft control, in particular to a method and device for constructing a mathematical model based on a four-axis aircraft. Background technique [0003] In recent years, multi-rotor aircraft have received more and more attention, whether in industrial use or in academic research fields. Multi-rotor aircraft include quadrocopters, hexacopters and multi-rotor aircraft. Quadcopter is the simplest type of multi-rotor aircraft, and it can take off and land in a specific area, and can also carry certain heavy objects, so it has attracted the attention of most people in this field. Quadcopter is a kind of unmanned aerial vehicle, and it is also an intelligent robot. "Four-axis" refers to four r...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 李家兴刘治
Owner GUANGDONG UNIV OF TECH
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