Position attitude control method of four-rotor unmanned aerial vehicle with unbalance loads

A four-rotor UAV, control method technology, applied in attitude control, three-dimensional position/channel control, vehicle position/route/height control, etc. The installation location is uncertain, etc.

Inactive Publication Date: 2018-08-07
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The present invention solves the problem that the four-rotor UAV cannot continue to fly stably due to the offset of the center of gravity when loading an unbalanced load with an unknown center of gravity and an uncertain installation position.

Method used

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  • Position attitude control method of four-rotor unmanned aerial vehicle with unbalance loads
  • Position attitude control method of four-rotor unmanned aerial vehicle with unbalance loads
  • Position attitude control method of four-rotor unmanned aerial vehicle with unbalance loads

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specific Embodiment approach 1

[0100] A compensation control method for a quadrotor UAV loaded with an unbalanced load based on center of gravity position identification, comprising the following steps:

[0101] Step 1: Establish the ground coordinate system (O g x g Y g Z g ) and body coordinate system (OXYZ), such as figure 1 As shown, the origin of the ground coordinate system O g Fixed to any point on the ground; X g Axis points to geographic east; Y g Axis points to geographic North Pole; Z g Point up along the local geographic vertical and align with the X g , Y gForm a right-handed Cartesian coordinate system. The coordinate origin O of the body coordinate system is the initial center of gravity; the X-axis points to the right of the body; the Y-axis is located on the body axis and points to the nose; the Z-axis points to the top of the body. The body coordinate system is a moving coordinate system, and its origin does not change with the offset of the center of gravity.

[0102] The groun...

specific Embodiment approach 2

[0115] Specific implementation mode two: image 3 It is the control block diagram of the quadrotor aircraft under no-load conditions, combined with image 3 To describe this embodiment,

[0116] The third step of this embodiment includes the following steps:

[0117] Step 3 A, establish the attitude controller of the quadrotor aircraft under no-load conditions, including the pitch angle, roll angle, and yaw angle controller during flight. The present invention uses the angular velocity control as the inner ring and the attitude angle control as the outer ring The cascaded PID controller of the complete flight attitude control, wherein, the input of main controller is the deviation of expected attitude angle and actual attitude angle, output is expected angular velocity, the deviation of this expected angular velocity and aircraft actual angular velocity is used as the input of secondary controller, Output the duty cycle of controlling the propeller speed, denoted as U roll ...

specific Embodiment approach 3

[0129] Specific implementation mode three: Figure 4 For the overall process of aircraft pose estimation based on extended Kalman filter, combined with Figure 4 To describe this embodiment,

[0130] The fourth step of this embodiment includes the following steps:

[0131] The present invention introduces an extended Kalman filter scheme for the measurement of pose information, smooths the measurement results of AHRS and INS, obtains more accurate pose information, and improves the recognition accuracy of the center of gravity position.

[0132] The state equation of the extended Kalman filter of the attitude reference system is

[0133]

[0134] where x k is the state vector at time k, w k-1 is the process noise vector, q 0 ,q 1 ,q 2 and q 3 is a quaternion representing the attitude of the aircraft.

[0135] The measurement equation of the extended Kalman filter for the attitude reference system based on the accelerometer is

[0136]

[0137] where x k is the...

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Abstract

The invention relates to a position attitude control method of a four-rotor unmanned aerial vehicle with unbalance loads, and belongs to the technical field of control of unmanned aerial vehicles, which aims at solving the problem of the unmanned aerial vehicle failing to continue to stably run due to unknown center of gravity and uncertainty in installation position in the process of loading unbalanced load. The position attitude control method comprises the following steps of firstly, deriving a kinematics model and a dynamics model before and after the unbalance load is loaded on the four-rotor unmanned aerial vehicle by coordinate conversion and dynamics analysis; obtaining the measuring data of a sensor in the flight process, utilizing a Kalman filtering method to obtain the high-precision and non-lagging flight state, and distinguishing the approximate location of center of gravity by the flight states; designing a position attitude controller and a position controller of the four-rotor unmanned aerial vehicle, and improving the controller by compensating the rotation speed of a propeller, so as to offset the additional rotary movement and linear movement due to location change of center of gravity. The position attitude control method is suitable for estimating the location of the center of gravity in the takeoff and hovering process of the four-rotor unmanned aerial vehicle, and establishing a compensation controller.

Description

technical field [0001] The invention relates to a position and attitude control method of a quadrotor unmanned aerial vehicle, belonging to the technical field of unmanned aerial vehicle control. Background technique [0002] Due to its simple structure and the ability to fly at low altitude, hover at a fixed point and take off and land vertically in a complex environment, the quadrotor aircraft has a good development prospect in terms of market application and academic research. The current development trend of quadrotor aircraft is gradual autonomy, which can accurately complete navigation and control tasks in complex environments, and ensure the success rate of flight tasks under uncertain interference. [0003] We hope to obtain a control method to keep the aircraft to complete the task stably and accurately under the unbalanced load with unknown loading center of gravity and uncertain installation position. In cargo transportation and material rescue in disaster areas,...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10G05D1/08
CPCG05D1/0825G05D1/101
Inventor 许中研贺风华姚郁马杰王宁远
Owner HARBIN INST OF TECH
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