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A new control method for rotary-wing drones

A technology of unmanned rotor control method, applied in attitude control, control/regulation system, non-electric variable control and other directions, can solve the problems of complex algorithm, complex calculation, narrow practical situation, etc., and achieve good robustness and control accuracy. high effect

Active Publication Date: 2021-03-16
STATE GRID SICHUAN ELECTRIC POWER CORP ELECTRIC POWER RES INST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

There are two main limitations in the design of this system: it is assumed that the system is in a small-angle mode of hovering, and the actual situation is narrow; the ground-assisted computer is used for the calculation of adaptive control, and it cannot actually fly in the field
However, the limitation is that the algorithm is complex and difficult to implement on embedded systems.
[0006] The above RUAV control methods all have the problem of complex calculation and difficult implementation in embedded systems

Method used

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  • A new control method for rotary-wing drones
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  • A new control method for rotary-wing drones

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0188] In this example, it is assumed that the mass m=1.373kg

[0189] J x =0.10125kg m 2 ,J y =0.10203kg·m 2 ,J z =0.14374kg·m 2

[0190] J xy =0.00217kg·m 2 ,J yz =0.00153kg·m 2 ,J zx =0.00030kg·m 2

[0191] Available parameters are:

[0192] Table 1 Parameter calculation table (kg m 2 )

[0193]

[0194]

[0195] According to (18) and Theorem 1, determine the parameter z that makes the state equation of the S system stable 1 ,z 2 .

[0196] Thanks to J z It is the largest among the various elements of the moment of inertia, so when determining z 1 ,z 2 when, -W 33 The strictly diagonally dominant condition will be decisive.

[0197] Let the maximum value of angular velocity in three directions be 10rad / s.

[0198] remember

[0199]

[0200]

[0201]

[0202] The condition of equation (22) is satisfied to ensure the stability of the state equation of the S system.

[0203]

[0204]

[0205] Estimate z by formula (22), (23) 1 ,z ...

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Abstract

The invention belongs to a rotorcraft unmanned aerial vehicle control method. The main purpose of the invention is that, in the control of a rotorcraft unmanned aerial vehicle, state damping control is provided for controlling the attitude of the RUAV. On the basis that the RUAV quality asymmetry is fully considered, a RUAV nonlinear dynamics model is built, and a control law is obtained in combination with the state damping control. The method has the beneficial effects that a novel control method is provided for the control of the RUAV, namely, the state damping control is introduced in thecontrol, so that the control precision is high and the robustness is good.

Description

technical field [0001] The invention belongs to a control method for a rotary-wing unmanned aerial vehicle. Background technique [0002] Unmanned Aerial Vehicle (UAV) has become a hot word, not only a way to show a country's military strength, but also gradually becoming a carrier for people to record and enjoy life. Due to its simple operation, vertical take-off and landing, and good hovering performance, rotary-wing UAVs occupy a broader market than fixed-wing UAVs in the civilian field. The PID controller is the most successful and widely used in the control of rotor UAVs because of its simple algorithm and does not depend on the system model. [0003] The rotor unmanned aerial vehicle (RUAV) is light in weight, and the computing power of the microcomputer equipped with it is limited. It has strong coupling nonlinear dynamics characteristics, and it is difficult to model finely. The algorithm requirements for RUAV control mainly include three aspects: good robustness, ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/08
CPCG05D1/0825
Inventor 张凌浩王胜梁晖辉常晓青曾奕
Owner STATE GRID SICHUAN ELECTRIC POWER CORP ELECTRIC POWER RES INST