Multi-rotor aircraft yaw anti-saturation control method and multi-rotor aircraft

A multi-rotor aircraft and control method technology, which is applied in the field of multi-rotor aircraft and its yaw anti-saturation control, can solve the problems of actuator saturation, etc., and achieve the effects of enhancing robustness, suppressing saturation, and suppressing yaw anti-saturation Effect

CN107748491AInactive Publication Date: 2018-03-02CHANGCHUN INST OF OPTICS FINE MECHANICS & PHYSICS CHINESE ACAD OF SCI
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
Publication Date
2018-03-02
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention provides a multi-rotor aircraft yaw anti-saturation control method and a multi-rotor aircraft, not only can improve aircraft yaw control performance, but also effectively inhibits a yawanti-saturation phenomenon, enhances robustness of aircrafts and further has properties of small quantity of control parameters, easy engineering adjustment and convenient engineering realization; theapplication scope is wide, the method does not depend on models, the method is suitable for most of saturated control systems having performers, and relatively strong practicality is realized; according to different system states, different corresponding control strategies are adopted, system anti-disturbance capability can be improved on the condition that the system is guaranteed to be stable,the saturation phenomenon is inhibited, and the actual application value is realized.
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Description

technical field

[0001] The invention relates to the technical field of unmanned aircraft control, in particular to a multi-rotor aircraft and a yaw anti-saturation control method thereof. Background technique

[0002] As a multi-rotor aircraft, quadrotor aircraft has the characteristics of small size, simple structure, flexible flight, and vertical take-off and landing. It has shown great application potential in military and civilian fields and has attracted widespread attention.

[0003] The movement of the multi-rotor aircraft is driven by the motor to drive the rotor. In actual engineering, the motor can only reach a limited speed due to physical limitations. Therefore, there is actuator saturation in the attitude control of the multi-rotor aircraft. Actuator saturation will lead to prolonged adjustment time of the system, increased overshoot, oscillation, and even system instability. Taking the quadrotor aircraft as the control object, since its yaw motion is driven by...

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Embodiment Construction

[0044] In order to enable those skilled in the art to better understand the solutions of the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only It is an embodiment of a part of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0045] The terms "first", "second", "third", "fourth", etc. (if any) in the description and claims of the present invention and the above drawings are used to distinguish similar objects, and not necessarily Used to describe a specific sequence or sequence. It is to be understood that the terms so used are interchangeable under app...