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Oil drive quadrotor unmanned aerial vehicle attitude control method

A quadrotor UAV, attitude control technology, applied in attitude control, non-electric variable control, adaptive control and other directions, can solve the problem of inability to overcome harmful noise, affect the stability of the UAV system, and cannot effectively control the oil movement Problems such as stable flight of quadrotor UAV

Inactive Publication Date: 2018-10-12
YUTONG BOHUI AEROSPACE SCI & TECH DEV CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In order to solve the problem that the combination of adaptive control and backstepping technology is used for the attitude control of the oil-powered quadrotor UAV, it cannot overcome the harmful noise generated by the vibration of the body on the attitude data of the quadrotor, which affects the stability of the UAV system. The problem of not being able to effectively control the stable flight of the oil-driven four-rotor UAV, the present invention provides a method that combines the adaptive integral backstepping method with the hybrid filtering algorithm, and combines the adaptive integral backstepping method with the hybrid filtering algorithm The control algorithm is applied to the oil-operated quadrotor UAV control system with large vibration and noise, and the attitude control method of the oil-operated quadrotor UAV for stable control of the oil-operated quadrotor

Method used

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  • Oil drive quadrotor unmanned aerial vehicle attitude control method
  • Oil drive quadrotor unmanned aerial vehicle attitude control method
  • Oil drive quadrotor unmanned aerial vehicle attitude control method

Examples

Experimental program
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Effect test

Embodiment 1

[0068] Example 1: From figure 1 It can be seen that the attitude control method of the oil-powered quadrotor UAV of the present invention combines the filter with the arithmetic average filtering to obtain the current precise height vector z, the current precise horizontal vector y, and the current precise horizontal vector x, respectively. Expected value z by height vector d , the horizontal vector expected value y d , the horizontal vector expected value x d After making the difference with the current precise height vector z, the current precise horizontal vector y, and the current precise horizontal vector x, the height control amount U is obtained through the adaptive backstep control algorithm. 1 and the horizontal position control amount u x and u y , then u x and u y Enter the attitude controller, by u x and u y Expected value φ of pitch attitude angle calculated by inverse solution d and the expected roll attitude angle θ d After making the difference with t...

Embodiment 2

[0069] Example 2: The initial value of the pitch angle and roll angle is set to 0.5rad, the initial value of its angular velocity is 0.5rad / s, the initial value of other state quantities is zero, the expected flight height is 1m, and the expected attitude angle and angular velocity are zero. .

[0070] When the control method is the conventional adaptive integral backstepping method, from figure 2 , image 3 and Figure 4 It can be seen that under the set conditions, the conventional adaptive integral backstepping method in the case of the noise power of the oil-driven quadrotor, the attitude and altitude trajectory of the quadrotor are always in deviation, and the four rotational speeds of the quadrotor are in irregular rotation. status, from Figure 4 It can be seen that there is an absolute error between the attitude angle and the desired attitude angle due to the continuous vibration and noise interference, but the absolute error value of the attitude angle controlled ...

Embodiment 3

[0071] Example 3: The initial value of the pitch angle and roll angle is set to 0.5rad, the initial value of its angular velocity is 0.5rad / s, the initial value of other state quantities is zero, the expected flight height is 1m, and the expected attitude angle and angular velocity are zero. .

[0072] When the control method adopts the attitude control method of the oil-powered quadrotor unmanned aerial vehicle of the present invention, under the set conditions, from Figure 5 , Image 6 and Figure 7 It can be seen that under the same noise power of the oil-powered quadrotor as in Example 2, the attitude and height trajectory of the quadrotor are basically consistent with the expected trajectory within the allowable error range, the four rotational speeds of the rotor are basically the same, and the horizontal direction of the oil-powered quadrotor is basically the same. The roll angle, pitch angle, and yaw angle range from -0.1 to 0.1 and tend to 0, and the height range f...

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Abstract

The present invention discloses an oil drive quadrotor unmanned aerial vehicle attitude control method. A height controller, a horizontal position controller, an attitude controller and a filter are provided. The filter and an arithmetic mean filtering are combined to obtain an accurate height vector z at this time, an accurate horizontal vector y at this time and an accurate horizontal vector x at this time, an adaptive backstepping control algorithm is employed to obtain a height controlled quantity U1, a pitch channel controlled quantity U2, a roll channel controlled quantity U3 and a yaw channel controlled quantity U4. The control algorithm through combination of the adaptive integration backstepping method and the hybrid filtering algorithm is applied to the oil drive quadrotor unmanned aerial vehicle having large interference from the external environment to reduce the steady state errors and improve the flight anti-interference performance of the oil drive quadrotor unmanned aerial vehicle itself. The oil drive quadrotor unmanned aerial vehicle attitude control method perform comparison and experiment with a conventional integration backstepping algorithm to fully proof thegood convergence and stability of the system, the good control effect, the high track tracking feature and good robustness and resistance to gust interference.

Description

Technical field: [0001] The invention relates to an attitude control method of an oil-powered four-rotor unmanned aerial vehicle, belonging to the field of automatic control. Background technique: [0002] The structure of the quadrotor UAV is simple, the cost is relatively low, and it is easy to maintain. Compared with other drones, it also has the characteristics of flexible and convenient control, vertical take-off and landing, and air hovering. It can be widely used in both military and civilian fields. Rotor UAVs and oil-powered quadrotor UAVs will be a hot research topic in the field of UAVs in the future because of their strong endurance and effective high payload. [0003] The oil-powered quadrotor uses a fuel engine. Compared with the electric quadrotor, the vibration of the fuselage is relatively large. The vibration of the fuselage will produce harmful noise to the attitude data of the quadrotor, which will affect the stability of the UAV system. [0004] At pre...

Claims

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Application Information

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IPC IPC(8): G05D1/08G05B13/04
CPCG05D1/0816G05B13/042
Inventor 杜永兴孔震震秦岭王可铭白利徐惠芳
Owner YUTONG BOHUI AEROSPACE SCI & TECH DEV CO LTD
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