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Four-rotor unmanned aerial vehicle flight control method based on fractional-order control algorithm

A four-rotor unmanned aerial vehicle, fractional-order control technology, applied in the direction of attitude control, non-electric variable control, control/regulation system, etc., can solve complex control, nonlinear multi-input multi-output system discomfort, weak anti-interference and Robust characteristics and other issues, to achieve high anti-disturbance ability, enhance anti-disturbance ability and robustness, strong robustness effect

Active Publication Date: 2018-05-01
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Although the structure of the quadrotor UAV is relatively simple, its control is relatively complicated because it is an underactuated nonlinear system and the state variables have strong coupling.
Nowadays, the control technology of quadrotor aircraft is developing rapidly, but there are certain problems, such as the unsuitability of the PID control method to the nonlinear multiple-input multiple-output system, the weak anti-interference and robustness of the backstepping control method, and The strong jitter that may exist in the backstepping sliding mode control method leaves room for improvement in the research of the quadrotor UAV control method.

Method used

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  • Four-rotor unmanned aerial vehicle flight control method based on fractional-order control algorithm
  • Four-rotor unmanned aerial vehicle flight control method based on fractional-order control algorithm
  • Four-rotor unmanned aerial vehicle flight control method based on fractional-order control algorithm

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Embodiment

[0064] figure 1 It is a flow chart of the flight control method of the quadrotor UAV based on the fractional order control algorithm of the present invention.

[0065] In this example, if figure 1 As shown, a kind of quadrotor unmanned aerial vehicle flight control method based on fractional order power switching law of the present invention comprises the following steps:

[0066] S1. Based on the Newton-Eulerian principle, the dynamic analysis of the UAV is carried out, including mechanical analysis and torque analysis, and the UAV dynamic model is established. The UAV dynamic model includes a translational motion model and a rotational motion model, among which the translational motion model for:

[0067]

[0068] Among them, (x, y, z) are the position coordinates of the UAV in the ground coordinate system, are the second-order derivatives of x, y, and z respectively, γ, μ, and ρ are the three attitude angles describing the UAV, namely roll angle, pitch angle and yaw ...

example

[0120] First, the fractional-order attitude controller is verified when only attitude control is considered. Such as Figure 2-4 , which respectively indicate that when the initial attitude angle (roll angle, pitch angle and yaw angle) of the quadrotor UAV is not 0 radians (the initial value is 0.2 radians), and the expected value is 0 radians, the quadrotor drone is unmanned The performance of the machine's attitude angle under the controller. It is obvious that the three attitude angles can converge to the desired value in a short time (4 seconds) and remain stable.

[0121] In certain practical applications, the effectiveness of the fractional-order attitude controller is verified. The application scenario selected at this time is the vertical takeoff process, and the formula

[0122]

[0123] as a solver from the desired position to the desired angle, where k x , k y is a normal number. Vertical takeoff is a major feature of quadrotor drones. Figure 5 It shows t...

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Abstract

The invention discloses a four-rotor unmanned aerial vehicle flight control method based on a fractional-order control algorithm. According to the method, a controller is of a back-stepping control structure on the whole, a second-order nonlinear system of a four-rotor unmanned aerial vehicle is divided into two subsystems, control laws meeting Lyapunov stability theories are built, and the two subsystems are serially connected into a complete controller through virtual intermediate control variables, so that the controller can effectively adapt to nonlinearity of a system and has good integrity. Besides, in order to enhance the anti-disturbance capability and robustness of the controller, sliding mode control design of controlled variables is performed in second back-stepping design, andhigh anti-interference capability and high robustness of sliding mode control are introduced.

Description

technical field [0001] The invention belongs to the technical field of quadrotor UAVs, and more specifically relates to a flight control method for quadrotor UAVs based on a fractional order control algorithm. Background technique [0002] With the development of aerospace technology and people's increasing demand for intelligent equipment, drones have begun to enter people's production, life and even military activities, and have attracted the attention of a large number of scientific researchers. Committed to improving its flight performance and expanding its application range. With its many advantages, such as simple structure, flexible flight, low cost, especially vertical take-off and landing, quadrotor UAV has become a hot spot in the field of UAV research. [0003] Although the structure of the quadrotor UAV is relatively simple, its control is relatively complicated because it is an underactuated nonlinear system and the state variables have strong coupling. Nowada...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0825G05D1/102
Inventor 程玉华殷春胡彬杨时晓宇张博周静薛建宏
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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