Controller design method of duct type multi-rotor mooring unmanned aerial vehicle (UAV)

A design method and ducted technology, applied in three-dimensional position/course control, attitude control, non-electric variable control, etc., can solve the problem of poor control ability of UAV controller, insufficient optimization of control parameters, weak anti-interference ability, etc. problems, to achieve the effect of efficient energy utilization, long-term flight, and atmospheric lift

Active Publication Date: 2019-03-29
HARBIN INST OF TECH
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  • Abstract
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  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to solve the problem that the simulation platform of the existing UAV control system does not optimize the control parameters, and the UAV controller has poor control ability and weak anti-interference ability, and proposes a ducted Design method of controller for multi-rotor tethered UAV

Method used

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  • Controller design method of duct type multi-rotor mooring unmanned aerial vehicle (UAV)
  • Controller design method of duct type multi-rotor mooring unmanned aerial vehicle (UAV)
  • Controller design method of duct type multi-rotor mooring unmanned aerial vehicle (UAV)

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specific Embodiment approach 1

[0029] The controller design method of the ducted multi-rotor moored UAV of the present embodiment, the design method is realized through the following steps:

[0030] Step 1, adopt the analysis method of finite element, analyze the overall structural aerodynamic characteristic parameter of duct type multi-rotor tethered unmanned aerial vehicle, parameter comprises: determine the aerodynamic characteristic parameter of rotor, duct and deflector vane,

[0031] Maximize the efficiency of the ducted rotor under the same voltage and current, complete the overall design of the ducted multi-rotor tethered UAV; and select the appropriate power device and electronic equipment to complete the hardware of the ducted multi-rotor tethered UAV System design; then select tethered cables with light unit weight, tensile strength, high voltage resistance, low resistance, and strong environmental adaptability to complete the design of the tethered power supply system to achieve long-term uninter...

specific Embodiment approach 2

[0037] Different from the specific embodiment one, the controller design method of the ducted multi-rotor tethered UAV in this embodiment, the dynamic model of the body of the ducted multi-rotor tethered UAV as described in step 2 The process is that the body of the ducted multi-rotor tethered UAV is referred to as the body for short.

[0038] Step 21. Let Xb, Yb, and Zb be the roll axis, pitch axis, and yaw axis of the ducted multi-rotor tethered UAV, respectively, and the corresponding attitude angle is defined as:

[0039] Roll angle φ (roll): the angle between the body axis Zb and the vertical plane of the earth passing through the body axis Xb, and roll clockwise along the positive direction of Xb to be positive;

[0040] Pitch angle θ (pitch): the angle between the rolling axis Xb and the ground level, and the clockwise deflection along the Yb positive direction is positive;

[0041] Yaw angle ψ(yaw): the angle between the projection of the rolling axis Xb on the earth ...

specific Embodiment approach 3

[0098] Different from the second specific embodiment, the controller design method of the ducted multi-rotor tethered UAV in this embodiment, the process of obtaining the assigned value of each motor pulling force control described in step 2 is that the ducted multi-rotor The rotor tethered UAV has 4 control channels and 1 motor. The specific distribution value of the motor cannot be obtained through 4 equations, and the solution can only be solved by introducing conditional equations reasonably. Order F 1 +F 3 =F 2 +F 4 , combined with the following equation:

[0099]

[0100] It can be solved to obtain the values ​​of F0, F1, F2, F3, and F4:

[0101]

[0102] In the formula, A represents the distribution matrix of the motor; through the four control variables, the value of the pulling force of the five motors can be obtained, and then the speed of the motor can be controlled.

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Abstract

The invention relates to a controller design method of a duct type multi-rotor mooring UAV, belongs to the field of control algorithms, and aims at solving the problem that a UAV controller is low incontrol capability and anti-interference capability due to the fact that a present simulation platform of a UAV control system is incapable of optimizing control parameters sufficiently. According tothe controller design method, a finite element analysis method is used, pneumatic characteristic parameters of the total structure of the duct type multi-rotor mooring UAV is analyzed, a dynamic modelof the UAV is established and distribution values for tension control of different motors are obtained according to the pneumatic characteristic parameters, and the pneumatic characteristic parameters are measured; the established model is combined with the measured pneumatic characteristic parameters to establish a control simulation platform of a duct type mooring UAV control system is established in the simulink environment; and a fuzzy PID controller is used to design the duct type mooring UAV control system with mooring cables, and the parameters are improved.

Description

technical field [0001] The invention relates to a controller design method for a ducted multi-rotor moored unmanned aerial vehicle. Background technique [0002] The present invention is the abbreviation of unmanned aerial vehicle (UAV) and refers to the aircraft that does not carry the operator and can fly autonomously or be driven by remote control. Multi-rotor UAV is a special unmanned aerial vehicle with three or more rotors. Commonly seen are four-rotor, six-rotor, eight-rotor and other models. By controlling the speed of the motor on each axis , to drive the rotor to generate lift thrust. [0003] In recent years, multi-rotor drones have been widely used in military investigation, security monitoring, communication support, media entertainment, environmental monitoring and other fields. The multi-rotor UAV is stable and easy to operate, and the price is relatively low. It provides great convenience for people and is generally welcomed by users. However, the power su...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 孙一为伊国兴张磊魏振楠王泽宇李缘熹
Owner HARBIN INST OF TECH
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