Four-rotor aircraft flight control method based on backstepping method

Abstract

The invention discloses a four-rotor aircraft flight control method based on a backstepping method. The four-rotor aircraft flight control method based on a backstepping method includes the steps: according to the principle of flight mechanics and aerodynamics, establishing a kinetic model of a four-rotor aircraft and simplifying the model: setting the aircraft as a rigid body, setting the structure of the aircraft to be completely symmetrical, setting the center of gravity of the aircraft to coincide with the center of the aircraft, taking the ground coordinate system as the inertia coordinate system, and ignoring changes in the curvature of the Earth and the acceleration of gravity; according to the kinetic model of the four-rotor aircraft, analyzing the coupling relation of the flight control system, and constructing a system control structure graph; and finally according to the kinetic model of the four-rotor aircraft and the system control structure graph, using the backstepping method, combining with the Lyapunov stability principle, and determining the feedback compensation control quantity of the system. The four-rotor aircraft flight control method based on a backsteppingmethod can stably control the position and the attitude of the four-rotor aircraft, and has the advantages of high trajectory tracking accuracy, high response speed, and high anti-interference capability.

Description

Technical field [0001] The invention belongs to the field of automatic control technology, in particular to a four-rotor aircraft flight control method based on an anti-step method. Background technique [0002] Unmanned aerial vehicles, also known as unmanned aerial vehicles, usually refer to unmanned aerial vehicles that can perform remote control operations or fly autonomously, complete certain tasks, and can be reused. Unmanned aerial vehicles can be used for power line inspection, bridge survey, agricultural fertilization, forest fire detection and other occasions. The application prospect is very broad, so it has great research value. [0003] Unmanned aerial vehicles are divided into three categories: fixed-wing drones, unmanned helicopters and multi-rotor aircraft. The wing shape of the fixed-wing UAV is fixed, and the lift is mainly provided by the wind flowing through the wing. It has the characteristics of long endurance, high flight efficiency, and large load. However,...

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Problems solved by technology

The conventional controller designed by the conventional PID control method is widely used in engineering. The conventional controller does not have too much requirement on the accuracy of the quadrotor aircraft model, and ignores the influence of uncertain items in the quadrotor aircraft model. However, this approximation is only in The quadrotor is in a near-hover state. When the quadrotor is in a large maneuvering flight, the performance of the conventional controller deteriorates sharply, and there are potential safety hazards. At the same

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