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Enhanced-type constant-speed reaching law sliding-mode control method for four-rotor-wing unmanned plane system

A technology of a quadrotor UAV and a control method, applied in the directions of adaptive control, general control system, control/regulation system, etc., can solve the problem of singularity, buffeting and the like

Active Publication Date: 2018-05-01
ZHEJIANG UNIV OF TECH
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Problems solved by technology

However, the traditional sliding mode variable structure can cause singularity problems and chattering

Method used

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  • Enhanced-type constant-speed reaching law sliding-mode control method for four-rotor-wing unmanned plane system
  • Enhanced-type constant-speed reaching law sliding-mode control method for four-rotor-wing unmanned plane system
  • Enhanced-type constant-speed reaching law sliding-mode control method for four-rotor-wing unmanned plane system

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Embodiment Construction

[0092] The present invention will be further described below in conjunction with the accompanying drawings.

[0093] refer to Figure 1-Figure 6 , an enhanced constant velocity reaching law sliding mode control method for a quadrotor UAV system, comprising the following steps:

[0094] Step 1, determine the transfer matrix from the body coordinate system based on the quadrotor UAV to the inertial coordinate system based on the earth;

[0095]

[0096] Among them, ψ, θ, and φ are the yaw angle, pitch angle, and roll angle of the UAV, respectively, indicating the rotation angle of the UAV around each axis of the inertial coordinate system in turn, and T ψ represents the transition matrix of ψ, T θ Denotes the transition matrix of θ, T φ Represents the transition matrix of φ;

[0097] Step 2, analyze the UAV dynamics model according to Newton Euler's formula, the process is as follows:

[0098] 2.1, during the translation process:

[0099]

[0100] Among them, x, y, a...

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Abstract

The invention discloses an enhanced-type constant-speed reaching law sliding-mode control method for a four-rotor-wing unmanned plane system. The enhanced-type constant-speed reaching law sliding-modecontrol method is designed for the four-rotor-wing unmanned plane system through combining with a constant-speed reaching law sliding-mode control method. The design of an enhanced-type index reaching law aims at guaranteeing that the sliding mode of the system can reach a sliding mode plane more quickly while the vibration of the system is not increased, thereby achieving the quick and stable control of the system.

Description

technical field [0001] The invention relates to an enhanced constant velocity approach law sliding mode control method for a quadrotor unmanned aerial vehicle system. Background technique [0002] As a kind of rotorcraft, quadrotor aircraft has attracted wide attention from domestic and foreign universities, research institutions and companies due to its small size, good maneuverability, simple design, and low manufacturing cost. Rotor-wing unmanned aerial vehicles are very suitable for civilian and military fields such as surveillance and reconnaissance. In the civil field, UAVs are mainly used in disaster relief, ground monitoring, high-altitude aerial photography, etc.; due to their high concealment and good reliability, they are also used in military fields such as battlefield monitoring and military reconnaissance. In terms of scientific research, quadrotor drones have nonlinear, underactuated, and strongly coupled dynamic characteristics, and researchers often use the...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 陈强陈凯杰叶艳
Owner ZHEJIANG UNIV OF TECH
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