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A kind of unmanned aerial vehicle control system and control method

A technology for control systems and unmanned aerial vehicles, applied in control/regulation systems, attitude control, non-electric variable control, etc., can solve the problems of difficult modeling, complex models, and narrow adaptability of linear controllers, and ensure stability. , Avoid the influence of the service life of the steering gear, and ensure the effect of robustness

Active Publication Date: 2022-04-15
COMP APPL TECH INST OF CHINA NORTH IND GRP
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The UAV system has complex aerodynamic characteristics and strong coupling. It is a multivariable nonlinear time-varying system. Its complex model and difficult modeling have brought challenges to the controller design for autonomous flight. The current market UAV flight control algorithms mostly use traditional PID or robust control algorithms such as H-infinity designed for the small-disturbance linearization model of UAV hovering mode. Envelope Autonomous Flight Control

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  • A kind of unmanned aerial vehicle control system and control method
  • A kind of unmanned aerial vehicle control system and control method
  • A kind of unmanned aerial vehicle control system and control method

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Embodiment 1

[0042] Example 1, such as figure 1 As shown, an unmanned aerial vehicle control system according to an embodiment of the present invention includes: an instruction filter, an extended state observer, and a sliding mode controller (ie, a sliding mode variable structure).

[0043] The attitude command filter is used to filter and transition the target attitude angle of the UAV attitude model to obtain a smooth target attitude angle and target attitude angle command differential. The attitude angle is usually given by the navigation system or calculated by the speed control. When the given attitude angle signal is a step signal or a pulse signal, the inner loop control system usually needs to provide a large amount of instantaneous control, which in the actual control system It is difficult to realize, and at the same time, too high control frequency will reduce the service life of the steering gear. In order to avoid this situation, the attitude angle command filter is used to s...

Embodiment 2

[0081] Embodiment 2, a UAV control method, comprising:

[0082] Through the attitude command filter, the target attitude angle of the UAV attitude model is filtered and transitioned to obtain a smooth target attitude angle and target attitude angle command differential;

[0083] The measured attitude angular rate of the UAV attitude model is used as the input of the extended state observer, and the sum disturbance of the UAV attitude model is obtained through the observation of the extended state observer;

[0084] The sliding mode controller takes the difference between the measured attitude angle of the UAV attitude model and the target attitude angle processed by the filter transition as input, and according to the nonlinearity of the UAV attitude model by the sum of disturbances observed by the extended state observer The characteristics are compensated, the attitude angle control amount of the UAV attitude model is determined, and the attitude of the UAV model is tracked ...

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Abstract

The invention discloses an unmanned aerial vehicle control system, comprising: an attitude command filter, which performs filter transition processing on a target attitude angle to obtain a smooth target attitude angle and target attitude angle command differentiation; an expanded state observer to measure the attitude angle The rate is used as the observation input, and the observation sum disturbance item receives the attitude angle control amount fed back by the sliding mode controller in real time; The sum disturbance term compensates the UAV attitude model, determines the attitude angle control amount, and feeds the output attitude angle control amount back to the expanded state observer, and the measured attitude angle measured by the UAV attitude model in real time is fed back to the sliding mode control device. The invention also provides a method for controlling the drone. The beneficial effect of the present invention is that the full-envelope autonomous flight control of the unmanned aerial vehicle can be realized without providing a large instantaneous control amount and a high control frequency.

Description

technical field [0001] The invention relates to the technical field of automatic control of unmanned aerial vehicles, in particular, to a control system and control method for unmanned aerial vehicles. Background technique [0002] Due to the characteristics of vertical take-off and landing and fixed-point hovering, UAVs have broad uses and development prospects. At present, they are widely used in aerial photography, transportation, patrol, rescue and other fields, and have important military and civilian values. Its autonomous flight control has been a hot research area of ​​UAV system. [0003] The UAV system has complex aerodynamic characteristics and strong coupling. It is a multivariable nonlinear time-varying system. Its complex model and difficult modeling have brought challenges to the controller design for autonomous flight. The current market UAV flight control algorithms mostly use traditional PID or robust control algorithms such as H-infinity designed for the ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 刘培志张兴文赵小川徐玉国崔倩楠胡雄文樊双琳徐洋张伯华李凯
Owner COMP APPL TECH INST OF CHINA NORTH IND GRP