Self-adaptive RBFNNs noise-measurement active-disturbance-rejection control method for rotor wing flight manipulator

Abstract

The invention discloses a self-adaptive RBFNNs noise-measurement active-disturbance-rejection control method for a rotor wing flight manipulator. The method comprises the following steps that the rotor wing flight manipulator is subjected to stress analysis, and a Newton-Eulerian method is used for establishing a dynamics model of the rotor wing flight manipulator; a height controller and a levelcontroller based on RBFNNs\ADRC are designed; according to the dynamics model and the actual flight conditions of the rotor wing flight manipulator, the output of the level controller is converted into an expected attitude angle; an attitude controller based on RBFNNs\ADRC is designed; according to a flight mode of the rotor wing flight manipulator, control signals are converted into all rotor wing rotation speed values. According to the method, self-adaptive RBFNNs are utilized for estimating inner and outer disturbance of all channels of the flight manipulator and conducting real-time compensation, on this basis, the attitude controller based on RBFNNs\ADRC is designed, the disturbance of the movement of the manipulator to a flight platform can be effectively compensated for, and the rotor wing flight manipulator in the flight process can stably grip.

Description

technical field [0001] The invention belongs to the technical field of automatic control, relates to the technical field of multi-rotor aircraft control, in particular to a control method for self-adaptive RBFNNs noise-measuring and anti-disturbance of a rotor flying manipulator. Background technique [0002] Rotorcraft has made major breakthroughs and great application progress in the past two decades. It can realize its fixed-point hovering, maneuvering flight, autonomous take-off and landing and other flight modes. It is currently used in natural disaster detection and rescue, map remote sensing measurement, and agricultural applications. etc. have been widely used. At the same time, the method of adding active operating mechanisms such as mechanical arms to the ground mobile robot system has also been widely recognized. It has been fully verified and initially successful in various occasions such as anti-terrorism and riot control, disaster relief and rescue, which makes...

AI Technical Summary

Problems solved by technology

Although the invention improves the flexibility of the manipulator, it does not fully consider the coupling and interference between the manipulator and the rotorcraft, and lacks flight stability in the grasping operation, which may lead to grasping failure

[0004] The main problems in the existing technology include: the uncertainty of the internal parameters of the rotorcraft manipulator, the interference of the external environment and the planned movement of its own manipulator on the flight platform, and the lack of flight stability during the grasping operation, which may lead to Failed; in the process of grabbing the target with the rotor flying manipulator, the movement of the manipulator will have a large reaction force on the flying platform, which will cause the aircraft to produce an uncertain offset in the three-dimensional environment and move away from the target, which greatly increases the mechanical Difficulty of arm grasping target

Images