Hierarchical unmanned aerial vehicle tracking control method based on feedforward and weight distribution

Abstract

The invention discloses an unmanned aerial vehicle tracking control method, and belongs to the field of motion control. The method comprises the steps of acquiring structure parameters of an unmannedaerial vehicle, the lift force range provided by a propeller and real-time motion state information of the unmanned aerial vehicle and a tracked target; establishing a Newton Euler model, and adding asaturation characteristic to the model; establishing a basic double closed-loop cascade PID deviation controller in a pitch angle control subsystem, a roll angle control subsystem, a yaw angle control subsystem and a height control subsystem according to the established model; adding gravity feedforward and attitude feedforward according to gravity parameters and attitude information of the unmanned aerial vehicle; adding a saturation weight distributor to the pitch angle control subsystem and the roll angle control subsystem, and eliminating the invalid increment generated due to the saturation characteristic of the propeller; and establishing a time optimal tracking controller according to the attitude angle limit of the unmanned aerial vehicle and motion information of the tracked target, connecting the time optimal tracking controller to the four subsystems for attitude and height control in the lower layer, and finally achieving stable tracking.

Description

technical field [0001] The invention relates to unmanned aerial vehicle control, in particular to a layered unmanned aerial vehicle tracking control method based on feedforward and weight distribution. Background technique [0002] In recent years, with the development of UAV technology, it has gradually entered people's field of vision and integrated into people's lives in all walks of life; UAVs are mainly used as reconnaissance aircraft in the military field, which has the advantages of small size, low cost, It has the advantages of convenient use, low requirements for the combat environment, and strong battlefield survivability; in the civilian field, it is mainly divided into two aspects: aerial photography and loading. In the field of aerial photography, the use of drones for auxiliary shooting in the film and television industry has long been the norm; In addition to the film and television industry, aerial photography drones can also be widely used in national ecolog...

AI Technical Summary

Problems solved by technology

[0003] Although the application of drones is becoming more and more widespread, in reality, the current drones do not have the ability to fly autonomously, but rely more on the operator for remote control, which has many limitations; therefore, autonomous flight will It will be the main direction of UAV research in the future

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