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Symmetrical time-varying output-constrained aircraft attitude control method

A technology of attitude control and aircraft, which is applied in attitude control, non-electric variable control, adaptive control, etc., and can solve problems such as obstacles to the application of quadrotor aircraft systems

Inactive Publication Date: 2019-06-21
ZHEJIANG UNIV OF TECH
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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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  • Symmetrical time-varying output-constrained aircraft attitude control method
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  • Symmetrical time-varying output-constrained aircraft attitude control method

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Embodiment Construction

[0112] The present invention will be further described below in conjunction with the accompanying drawings.

[0113] refer to Figure 1-Figure 5 , a symmetric time-varying output-limited aircraft attitude control method, comprising the following steps:

[0114] 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:

[0115] 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:

[0116]

[0117] Among them, φ, θ, and ψ are the roll angle, pitch angle, and yaw angle of the quadrotor aircraft, respectively, indicating the angle at which the aircraft rotates around each coordinate axis of the inertial coordinate system in turn;

[0118] 1.2 The dynamic model of the four-rotor aircraft during translation is as follows:

[0119]

[0120] Among them, x, y...

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Abstract

The invention provides a symmetrical time-varying output-constrained aircraft attitude control method. In view of a dynamic system of a four-rotor aircraft, a symmetrical time-varying logarithmic tangent composite constraint Lyapunov function is selected, and a four-rotor aircraft output constraint control method based on the symmetrical time-varying logarithmic tangent composite constraint Lyapunov function is designed. The design of the symmetrical time-varying logarithmic tangent composite 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 symmetrical time-varying output-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 limited symmetrical time-varying output, 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 ad...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04G05D1/08G05D1/10
CPCG05B13/042G05D1/0825G05D1/101
Inventor 陈强胡忠君施卉辉胡轶吴春
Owner ZHEJIANG UNIV OF TECH
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