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Quadrotor Flight Control Method Based on Fractional Saturation Function Switching Control Law
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A flight control and control law technology, applied in attitude control, control/regulation system, non-electric variable control, etc., can solve problems such as controller burden, affecting controller stability, and complicated control methods
Active Publication Date: 2020-05-08
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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[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
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[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...
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[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 four-rotor flight control method based on a fractional-order saturation function switching control law. The system is split into two subsystems by using the backstepping control method, and then the traditional backstepping control method and the sliding mode control method are respectively used to control the quadrotor flight. The two subsystems are designed to meet the sub-control law of Lyapunov's theorem; 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 using The sliding mode control method also introduces the fractional order saturation function power switching law to improve the performance of the controller and suppress chattering, 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, It can also improve the nonlinear characteristics of the controller, filter out the jitter in the controller output, and improve the smoothness of the controller.
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...
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