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Sliding mode attitude control method for quadrotor UAV based on proportional integral observer

A quadrotor UAV, proportional integral technology, applied in attitude control, adaptive control, general control system and other directions, can solve the problems of high computational complexity, large amount of state feedback, etc. Interference, eliminate the influence of disturbance, easy to popularize and apply

Inactive Publication Date: 2019-03-26
NANJING UNIV OF POSTS & TELECOMM
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] Aiming at the above-mentioned problems in the prior art that the state quantity feedback of the system is relatively large and the calculation complexity is high during the control process of the quadrotor UAV, the present invention proposes a quadrotor UAV based on a proportional integral observer The sliding mode attitude control method, which can perform good dynamic control quality on the quadrotor UAV by combining the proportional integral state controller and the sliding mode attitude controller, the specific technical scheme is as follows:

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  • Sliding mode attitude control method for quadrotor UAV based on proportional integral observer
  • Sliding mode attitude control method for quadrotor UAV based on proportional integral observer
  • Sliding mode attitude control method for quadrotor UAV based on proportional integral observer

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Embodiment 1

[0034] In the embodiment of the present invention, a sliding mode attitude control method for a quadrotor UAV based on a proportional integral observer is provided, which is suitable for the attitude angle of a quadrotor UAV less than or equal to 90°, by using the Euler angle way to describe the space body attitude of the quadrotor UAV and model it; refer to figure 1 , the method of the present invention comprises:

[0035] S1. Let the Euler angle vectors rotate around the X, Y, and Z axes to x, y, and z be [φ θ ψ] to perform spatial rotation changes in the order of the X, Y, and Z axes respectively; where φ is the roll angle, that is The angle the body has rotated around its own X-axis; θ is the pitch angle, that is, the angle that the body has rotated around its own Y-axis; ψ is the yaw angle, that is, the angle that the body coordinate system has rotated around its own Z-axis; The movement of the aircraft is regarded as a rigid body motion, and the center of the quadrotor ...

Embodiment 2

[0058] refer to Figure 3 ~ Figure 9 , under the environment of MATLAB2016, the four-rotor UAV is selected to carry out the simulation verification test of the sliding mode control method based on the proportional integral observer designed by the present invention:

[0059] First, build a simulation module in MATLAB to carry out the simulation experiment of the whole quadrotor UAV. The relevant parameters of the model used by the quadrotor UAV and the related parameters of the proportional integral observer are:

[0060]

[0061] The initial state of the system state variable is: the initial Euler angle is (0.4,0.2,0) rad; the expected Euler angle is (1.2,1,0.5) rad. The initial Euler angular velocity is (0,0,0)rad / s.

[0062] In the present invention, the parameters of the sliding mode controller designed based on the proportional integral observer have a direct impact on the performance of the flight control system; the larger the parameter value is, the stronger the co...

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Abstract

The invention discloses a sliding mode attitude control method for a quadrotor UAV based on a proportional integral observer. The method comprises steps that a dynamic model of the quadrotor UAV withinterference only is established, and expressions of a rolling angle, an elevation angle and a yaw angle of the quadrotor UAV are transformed into second-order system models; the second-order system models are utilized to construct the corresponding proportional integral observer; a sliding mode attitude controller is designed according to the proportional integral observer, and the sliding mode attitude controller in combination with the rolling angle, the elevation angle and the yaw angle is utilized for flight control of the quadrotor UAV. The method is advantaged in that the proportional integral observer is combined with the sliding mode attitude controller, the partial feedback function of the proportional integral observer is utilized to estimate the shape and position input interference state of the quadrotor UAV, steady state tracking accuracy of the proportional integral state observer is improved, through the sliding mode attitude controller, relatively strong robustness andanti-interference to uncertain factors of the quadrotor UAV are achieved, and design and calculation are simple.

Description

technical field [0001] The invention belongs to the technical field of attitude control of unmanned aerial vehicles, and in particular relates to a sliding mode attitude control method of a quadrotor unmanned aerial vehicle based on a proportional integral observer. Background technique [0002] Quadrotor UAV has simple structure, strong relative load capacity, good vertical take-off and landing and maneuverability, and has been widely used in military and civilian fields, such as aerial reconnaissance, communication, electronic interference, resource detection, forest fire prevention , border patrol, etc. With the rapid development of science and technology, the degree of automation and intelligence of UAVs has been significantly improved, and it has become a hot spot in global development. Therefore, research on UAV flight control technology has also received great attention and development. . UAV attitude and speed control is the basis of UAV flight control, and its cont...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08G05B13/04
CPCG05B13/042G05D1/0825
Inventor 万佑红汪梓童曹卫涛王鲁
Owner NANJING UNIV OF POSTS & TELECOMM
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