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Asymmetrical time-varying constrained aircraft attitude control method

An attitude control, aircraft technology, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve problems such as application obstacles of quadrotor aircraft system

Inactive Publication Date: 2019-06-21
ZHEJIANG UNIV OF TECH
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  • Abstract
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AI Technical Summary

Problems solved by technology

Therefore, the traditional backstepping control method greatly hinders the application of the quadrotor aircraft system in practical situations.

Method used

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  • Asymmetrical time-varying constrained aircraft attitude control method
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Embodiment Construction

[0130] The present invention will be further described below in conjunction with the accompanying drawings.

[0131] refer to Figure 1-Figure 5 , an aircraft attitude control method with asymmetric time-varying constraints, comprising the following steps:

[0132] Step 1, establish the dynamic model of the quadrotor aircraft system, set the initial value, sampling time and control parameters of the system, the process is as follows:

[0133] 1.1 Determine the transfer matrix T from the body coordinate system based on the quadrotor aircraft system to the inertial coordinate system based on the earth:

[0134]

[0135] Among them, φ, θ, ψ are the roll angle, pitch angle, and yaw angle of the quadrotor aircraft, respectively, indicating the angles at which the aircraft rotates around each coordinate axis of the inertial coordinate system in turn;

[0136] 1.2 The dynamic model of the four-rotor aircraft during translation is as follows:

[0137]

[0138] Among them, x, ...

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Abstract

The invention provides an asymmetrical time-varying constrained aircraft attitude control method. In view of a dynamic system of a four-rotor aircraft, an asymmetrical time-varying arctangent constraint Lyapunov function is selected, and a four-rotor aircraft output constraint control method based on the asymmetrical time-varying tangent cosine composite constraint Lyapunov function is designed. The design of the asymmetrical time-varying arctangent constraint Lyapunov function is to ensure the output of the system to be constrained in a certain range, too large overshooting is avoided, and the arrival time can also be reduced. The dynamic response performance of the four-rotor aircraft system is further improved. According to the asymmetrical time-varying constrained aircraft attitude control method provided in the invention, the system thus has a good dynamic response process.

Description

technical field [0001] The invention relates to an aircraft attitude control method with asymmetric time-varying constraints, which enables the quadrotor aircraft system to have a better dynamic response process. Background technique [0002] As a kind of rotorcraft, quadrotor aircraft has attracted wide attention from domestic and foreign universities, research institutions and companies due to its small size, good maneuverability, simple design, and low manufacturing cost. However, due to the small size and light weight of quadrotor aircraft, it is vulnerable to external disturbances during flight, how to achieve high-performance motion control of quadrotor aircraft has become a hot issue. For the control problem of quadrotor aircraft, there are many control methods, such as PID control, active disturbance rejection control, sliding mode control, backstepping control, etc. [0003] Among them, backstepping control has been widely used in nonlinear systems, and its advanta...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 陈强胡忠君叶艳吴春胡轶
Owner ZHEJIANG UNIV OF TECH
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