Automatic-disturbance-rejection flight speed and attitude control method of unmanned helicopter

A technology of unmanned helicopter and active disturbance rejection control, which is applied in attitude control, vehicle position/route/height control, non-electric variable control, etc. It can solve the problem of unsatisfactory control effect without good algorithm, linear combination and not necessarily combination method And other issues

Active Publication Date: 2018-04-20
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

[0004] The defects of the following four aspects of PID control technology: the control effect of the original error generated by the direct subtraction method of e(t)=υ(t)-y(t) as the input of the controller is not ideal; the differential link input of There is n...

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  • Automatic-disturbance-rejection flight speed and attitude control method of unmanned helicopter
  • Automatic-disturbance-rejection flight speed and attitude control method of unmanned helicopter
  • Automatic-disturbance-rejection flight speed and attitude control method of unmanned helicopter

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Embodiment Construction

[0061] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0062] Such as figure 1 As shown, an unmanned helicopter self-disturbance rejection flight speed and attitude control method, including

[0063] The coupling between channels is regarded as a disturbance, and the ADRC controller can cancel the coupling through the disturbance estimation and disturbance compensation of the extended state observer. From the perspective of parallel connection, the schematic block diagram of the control system channel of the small unmanned helicopter is as follows: figure 2 shown.

[0064] The anti-disturbance controller needs to use the fal function many times. The definition of the fal function is as follows:

[0065]

[0066] The extended state observer is the most important part of the ADRR algorithm. It regards the difference between the actual system and the established model as a disturbance. It real...

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Abstract

The invention relates to the field of unmanned aerial vehicle (UAV) control, in particular to an automatic-disturbance-rejection flight speed and attitude control method of an unmanned helicopter. Themethod comprises steps of lateral channel control, vertical channel control, height channel control and yaw channel control. Each channel control is implemented as follows: a transition stage is arranged and a control input v is smoothened to obtain a smooth control input v1; according to an expansion state observer of a first-level ADRC, an observation state quantity and an expansion state quantity are obtained; on the basis of the smooth control input v1, the observation state quantity and the expansion state quantity, an output of a first-level automatic-disturbance-rejection controller; and at a disturbance compensation stage, a controller output of each channel is obtained respectively. According to the invention, coupling between all channels is viewed as disturbance; and the automatic-disturbance-rejection controller carries out coupling cancelling by disturbance estimation and disturbance compensation of the expansion state observer. A model-free controller is provided; and noprecise model of the controlled object is needed and controlling is realized by depending on an error.

Description

technical field [0001] The invention relates to the field of unmanned aerial vehicle control, in particular to an unmanned helicopter self-disturbance rejection flight speed and attitude control method. Background technique [0002] The flight control system of the unmanned helicopter is mainly composed of two parts. The first part is the speed and attitude control system, which is mainly responsible for increasing stability, so that the unmanned helicopter is in a stable state without changing the external conditions, which is the basis for the aircraft to fly autonomously. The second part is the position control system, its function is to control the flight path of the aircraft, so that it can fly according to the route or waypoint given by the user. [0003] The attitude control and speed control of traditional helicopter flight control generally use classical control theory as the theoretical basis, and the PID controller is used as its controller to control. PID is a m...

Claims

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Application Information

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IPC IPC(8): G05D1/10G05D1/08
CPCG05D1/0808G05D1/101
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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