Unmanned aerial vehicle stable flight control method

An unmanned aerial vehicle, flight control technology, applied in the field of flight control

Active Publication Date: 2018-04-24
SOUTH CHINA UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Although the PID controller is easy to use, the PID controller and the power distribution scheme obtained according to the PID controller cannot make the unmanned aerial vehicle achieve the desired stability.

Method used

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  • Unmanned aerial vehicle stable flight control method
  • Unmanned aerial vehicle stable flight control method
  • Unmanned aerial vehicle stable flight control method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0209] Such as figure 1 As shown, the present embodiment provides a method for controlling the stable flight of an unmanned aerial vehicle, which includes the following steps:

[0210] S1: Obtain the real-time flight data of the aircraft itself through the attitude sensor, position sensor, and height sensor on the unmanned aerial vehicle, and analyze and process the kinematics of the aircraft through the on-board processor to establish an aircraft dynamics model ;

[0211] A rotor flight structure in a multi-rotor aircraft such as figure 2 , image 3 as well as Figure 4 shown. The structure is a six-rotor aircraft mechanism model, which is composed of a multi-rotor aircraft propeller, a brushless motor, a rotor arm and a fuselage. image 3 with Figure 4 The direction of the arrow in the figure indicates the rotation direction of the motor, and the combination of clockwise and counterclockwise rotation directions in the figure is to realize the mutual cancellation of t...

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PUM

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Abstract

The invention discloses an unmanned aerial vehicle stable flight control method, which comprises the steps of: 1) acquiring real-time flight operation data of an aircraft, performing corresponding analytical processing on kinematics problems of the aircraft, and establishing a kinetics model of the aircraft; 2) constructing a deviation function according to the acquired real-time flight operationdata of the aircraft and target attitude data, utilizing a multi-layer zeroing neurodynamics method to construct neurodynamics equations based on the deviation function, wherein all the neurodynamicsequations based on the deviation function corresponding to parameters form controllers of an unmanned aerial vehicle, and output quantities solves by differential equations of the controller are output control quantities of aircraft motors; 3) and transmitting solution results to motor speed regulators of the aircraft so as to control the motion of the unmanned aerial vehicle. The unmanned aerialvehicle stable flight control method is based on the multi-layer zeroing neurodynamics method, can approximate the correct solution of a problem quickly, accurately and in real time, and can effectively solve time dependent problems.

Description

technical field [0001] The invention relates to a flight control method, in particular to a stable flight control method for an unmanned aerial vehicle. technical background [0002] In recent years, the world's unmanned aerial vehicle technology has developed rapidly. Multi-rotor aircraft with vertical take-off and landing, stable hovering, wireless transmission, long-range aerial photography and autonomous cruise capabilities have broad application prospects in military and civil fields. Due to its excellent maneuverability, simple mechanical structure, convenient deployment and simple maintenance, small rotor UAVs are widely used in aerial photography, power inspection, environmental monitoring, forest fire prevention, disaster inspection, terrorism prevention and lifesaving, Military reconnaissance and battlefield assessment and other fields. With the wide application of unmanned aerial vehicles, the design of stable and fast-response UAV controllers has attracted the a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCG05D1/101G05D1/0858G05D1/0088B64U2201/10B64C39/024G05D1/0816G08G5/003B64U30/20B64U2101/00
Inventor 张智军吉冬昱郑陆楠
Owner SOUTH CHINA UNIV OF TECH
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