Quadrotor flight control method based on fractional saturation function switching control law

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

Active Publication Date: 2018-10-19
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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  • Abstract
  • Description
  • Claims
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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, every 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-Order Control Algorithm" (Patent No.: 201711432615.1), although the introduction of fractional-order calculus theory makes The control speed of the controller becomes faster, but as the fractional order parameters in the controller become 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 fractional saturation function switching control law
  • Quadrotor flight control method based on fractional saturation function switching control law
  • Quadrotor flight control method based on fractional saturation function switching control law

Examples

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Comparison scheme
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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 switching control law of the present invention.

[0067] In this example, if figure 1 As shown, the present invention proposes a four-rotor UAV flight control method based on fractional saturation function switching control law, 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, namely roll angle, pitch angl...

example

[0122] 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: altitude, roll angle, pitch angle and yaw angle are all 0, and the expected values ​​are 8 meters, 0.2, 0.1 and 0.3 radians respectively. 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=0.2, δ=0), curve b——fractional order saturation function backstepping sliding mode controller (q=0.2, δ=0.01) and curve c—the performance comparison of fractional-order saturated function backstepping ...

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Abstract

The invention discloses a quadrotor flight control method based on the fractional saturation function switching control law. The system is split into two subsystems by using the backstepping control method, and then the sub-control law meeting the Liapunov's theorem is designed for the two subsystems by using the conventional backstepping control method and the sliding mode control method. In detail, the backstepping control method is to inherit the integrity and the unity and the sliding mode control method is to enhance the robustness and the anti-interference capacity. The fractional saturation function power switching law is introduced to enhance the controller performance and suppress chatters when the sliding mode control method is used so that rapid response of flight control of thequadrotor unmanned aerial vehicle can be guaranteed, the nonlinear characteristic of the controller can also be improved by adjusting the saturation function parameters, the output chatters of the controller can be filtered and the smoothness of the controller can be enhanced.

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 saturation function switching control law. 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 researchers, who are committed to improving its flight...

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 殷春胡彬杨时晓宇程玉华张博薛建宏周静
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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