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

A multi-rotor aircraft and control method technology, applied in the field of multi-rotor aircraft and its yaw anti-saturation control, can solve problems such as actuator saturation, achieve the effects of enhancing robustness, suppressing saturation, and improving anti-disturbance ability

Inactive Publication Date: 2019-11-15
CHANGCHUN INST OF OPTICS FINE MECHANICS & PHYSICS CHINESE ACAD OF SCI
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Problems solved by technology

[0004] In view of this, the embodiment of the present invention provides a multi-rotor aircraft and its yaw anti-saturation control method, which solves the problem that the yaw movement of the multi-rotor aircraft is easy to reach actuator saturation, improves the yaw control performance, and enhances the robustness of the yaw sex

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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...

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Abstract

The multi-rotor aircraft yaw anti-saturation control method and the multi-rotor aircraft provided by the present invention can not only improve the aircraft yaw control performance, but also effectively suppress the yaw anti-saturation phenomenon, enhance the robustness of the aircraft, and have fewer control parameters, It is easy for engineering adjustment and easy for engineering realization; it has a wide range of applications, does not depend on the model, and is suitable for most control systems with actuator saturation, and has strong practicability; according to different states of the system, different control strategies are adopted to ensure system stability. On the basis of the system, it can improve the anti-disturbance ability of the system and suppress the saturation phenomenon, which has practical application value.

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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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B11/42
CPCG05B11/42
Inventor 彭程乔冠宇白越
Owner CHANGCHUN INST OF OPTICS FINE MECHANICS & PHYSICS CHINESE ACAD OF SCI
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