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A Quadrotor Trajectory Tracking Control Method Based on Nonlinear Guidance

A technology of a quadrotor aircraft and a control method, which is applied in the field of aircraft control and can solve the problems that the quadrotor aircraft cannot guarantee a uniform flight and have a large response delay.

Active Publication Date: 2021-05-07
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0012] The present invention provides a trajectory tracking control method for quadrotor aircraft based on nonlinear guidance to solve the problems that the existing quadrotor aircraft tracking control cannot guarantee uniform flight and large response delay

Method used

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  • A Quadrotor Trajectory Tracking Control Method Based on Nonlinear Guidance
  • A Quadrotor Trajectory Tracking Control Method Based on Nonlinear Guidance
  • A Quadrotor Trajectory Tracking Control Method Based on Nonlinear Guidance

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specific Embodiment approach 1

[0093] Specific implementation mode one: combine image 3 The present embodiment is described. A non-linear guidance-based quadrotor trajectory tracking control method provided in this embodiment specifically includes the following steps:

[0094] Step 1. Establish a straight-line path coordinate system, a circular arc path polar coordinate system, and an inertial coordinate system OXYZ for the quadrotor aircraft;

[0095] Step 2, calculating the height required for the quadrotor aircraft to track the trajectory according to the geometric relationship;

[0096] Step 3: Project the quadrotor aircraft position, expected path, and current path onto the XOY plane of the inertial coordinate system, select a virtual tracking point on the projection of the expected path, and use the position coordinates of the virtual tracking point to calculate: the current speed of the quadrotor aircraft The angle between the direction and the line connecting the position of the quadrotor aircraft...

specific Embodiment approach 2

[0100] Specific embodiment two: the difference between this embodiment and specific embodiment one is that the specific process of establishing the linear path coordinate system, arc path polar coordinate system and inertial coordinate system described in step one includes:

[0101] Establish a straight-line path coordinate system for the quadrotor aircraft o p x p the y p z p , arc path polar coordinate system C ρ N ρ P ρ And the inertial coordinate system OXYZ, defining the straight line path coordinate system o p x p the y p z p The origin of the coordinates is the starting point of the straight line path, and its o p x p The axis points in the direction of the straight path, o p z p The axis pointing is the same as the inertial coordinate system OZ axis pointing, o p the y p axis, o p x p axis, o p z p The axes form a right-handed coordinate system; from the inertial coordinate system OXYZ to the straight path coordinate system o p x p the y p z p The...

specific Embodiment approach 3

[0106] Specific embodiment three: the difference between this embodiment and specific embodiment two is that the specific process of calculating the height required for the quadrotor aircraft tracking trajectory described in step two includes:

[0107] A1. When the tracking track is a straight line path:

[0108] The relative deviation of the position of the quadrotor relative to the position of the straight path e p at o p x p the y p z p In the coordinate system, it can be expressed as:

[0109]

[0110] Among them, e px 、e py 、e pz Respectively represent e p at o p x p the y p z p x in the coordinate system p Axial component, y p Axial component, z p The component of the axis direction, r is the desired position vector of the quadrotor, and p is the current position vector of the quadrotor;

[0111] In order to obtain the desired height h, such as Figure 4 As shown, the relative deviation e p Projected into the vertical plane (YOZ plane) in the inertia...

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Abstract

The invention provides a trajectory tracking control method for a quadrotor aircraft based on nonlinear guidance, and belongs to the technical field of aircraft control. The present invention first establishes a straight-line path coordinate system, an arc path polar coordinate system, and an inertial coordinate system for the quadrotor aircraft; then calculates the required height, desired heading angle, desired pitch angle, and desired lateral Acceleration; the altitude controller of the quadrotor aircraft obtains the height required for tracking the trajectory, the attitude angle controller obtains the desired heading angle, the pitch angle controller obtains the desired pitch angle, the roll angle controller obtains the desired lateral acceleration, and finally the quadrotor The aircraft flies according to a predetermined trajectory under the control of the altitude controller, the attitude controller, the pitch controller and the roll controller. The invention solves the problems that the tracking control of the existing four-rotor aircraft cannot guarantee uniform flight and the response delay is large. The invention can be used for trajectory tracking control of quadrotor aircraft.

Description

technical field [0001] The invention relates to a trajectory tracking control method of a four-rotor aircraft, which belongs to the technical field of aircraft control. Background technique [0002] The quadrotor aircraft has the characteristics of vertical take-off and landing, hovering and maneuvering flight, and is especially suitable for reconnaissance and surveillance tasks in small indoor spaces and complex urban environments. Quadrotor aircraft is a multivariable nonlinear system, and its dynamic model is relatively complex. Many universities and scientific research institutions at home and abroad have conducted extensive and in-depth research on it. [0003] Quadrotor aircraft needs to track the pre-planned flight trajectory during mission execution. The existing method is to discretize the flight path into position tracking points, and then design a corresponding position controller for the quadrotor aircraft to track the discrete position points. . The specific s...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10G05D1/08
CPCG05D1/0808G05D1/101
Inventor 郭继峰白成超郑红星于津
Owner HARBIN INST OF TECH
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