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Quadrotor Flight Control Method Based on Power Switching Law of Fractional Saturation Function

A flight control, fractional-order technology, applied in attitude control, control/regulation system, non-electric variable control, etc., can solve the problems of controller output jitter, affecting controller stability, controller burden, etc.

Active Publication Date: 2020-05-08
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The quadrotor UAV is an underactuated nonlinear system. Although the mechanical structure is relatively simple, the control method is relatively complicated due to the strong coupling between the state variables and the fixed output direction of the power system.
However, each control method must have a bottleneck that limits its further improvement. For example, in the patent "Flight Control Method of Quadrotor UAV Based on Fractional Power Switching Law" (Patent No.: 201711430426.0), although the fractional calculus theory The introduction makes the control speed of the controller faster, but as the fractional order parameter in the controller becomes larger, the output of the controller will tremble
The root of this tremor is the sign function of the sliding mode control method, but the fractional order parameters will amplify it, which will cause a great burden on the controller, produce negative effects that cannot be ignored, and affect the stability of the controller

Method used

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  • Quadrotor Flight Control Method Based on Power Switching Law of Fractional Saturation Function
  • Quadrotor Flight Control Method Based on Power Switching Law of Fractional Saturation Function
  • Quadrotor Flight Control Method Based on Power Switching Law of Fractional Saturation Function

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Embodiment

[0066] figure 1 It is a flow chart of the quadrotor flight control method based on the fractional-order saturation function power switching law of the present invention.

[0067] In this example, if figure 1 As shown, the present invention proposes a quadrotor unmanned aerial vehicle flight control method based on the power switching law of the fractional saturation function, comprising the following steps:

[0068] 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:

[0069]

[0070] 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, nam...

example

[0121] In order to more intuitively see the improvement of the performance of the flight controller after the introduction of the fractional-order saturation function switching control law, a simulation experiment is taken as an example to illustrate. In the simulation experiment, the initial values ​​of the state quantities: height, roll angle, pitch angle and yaw angle are 6 meters, 0.3, 0.2 and 0.1 radians respectively, and the expected values ​​are all 0. In the figure of the experimental results, Figure 2-5 is the state response curve, Figure 6-9 is the sliding mode surface change curve of the corresponding state, Figure 10-13 is the controller output curve for the corresponding state. In each figure, curve a——fractional order backstepping sliding mode controller (q=13, δ=0), curve b——fractional order saturation function backstepping sliding mode controller (q=0.13, δ=0.009) and curve c—the performance comparison of fractional-order saturated function backstepping s...

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Abstract

The invention discloses a four-rotor flight control method based on the power switching law of the fractional saturation function. The backstepping control method is used to split the system into two subsystems, and then the traditional backstepping control method and the sliding mode control method are used respectively. Design sub-control laws satisfying Lyapunov's theorem for the two subsystems; specifically, the backstepping control method is to inherit its integrity and unity, and the sliding mode control method is to improve robustness and anti-interference ability; the present invention is in When using the sliding mode control method, the power switching law of the fractional saturation function is introduced to improve the performance of the controller and suppress the tremor, so as to ensure the rapid response of the flight control of the quadrotor UAV. At the same time, by adjusting the parameters of the saturation function , can also improve the nonlinear characteristics of the controller, filter out the jitter in the output of the controller, and improve the smoothness of the controller.

Description

technical field [0001] The invention belongs to the technical field of four-rotor unmanned aerial vehicles, and more specifically relates to a flight control method for four-rotor unmanned aerial vehicles based on a power switching law of a fractional saturation function. Background technique [0002] With the increasing demand for intelligent equipment and the rapid development of aerospace technology, drones have entered people's lives from the initial military and production activities. Among them, the four-rotor UAV is simple in structure, flexible in flight, and low in cost. It is favored by ordinary people and meets the consumption level of ordinary families. Moreover, the quadrotor UAV has the function of vertical take-off and landing, which greatly reduces the strict requirements of the aircraft for take-off and landing. Therefore, the quadrotor UAV has become a hot spot in the field of UAV research, attracting the attention of a large number of scientific researche...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 程玉华殷春胡彬杨张博时晓宇周静薛建宏
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA