Six-rotor aircraft attitude decoupling control method

A technology of decoupling control and aircraft, applied in the field of aircraft control, can solve the problems of difficult to obtain dynamic characteristics of disturbances and easy to be affected by disturbances, etc.

Active Publication Date: 2019-07-05
CENT SOUTH UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

When the disturbance is measurable, feedback control can achieve the suppression of system disturbance, but the accurate system model and disturbance dynamic characteristics are often difficult to obtain
[0006] In summary, sin

Method used

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  • Six-rotor aircraft attitude decoupling control method
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  • Six-rotor aircraft attitude decoupling control method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0123]This example provides a hexacopter attitude decoupling control method, including:

[0124] (1) Select the navigation coordinate system OX e Y e Z e , body coordinate system OX b Y b Z b and the aircraft attitude angle vector Establish a dynamic model of a hexacopter;

[0125] (2) Select the input of the flight system, ignore the air resistance, the coupling of the three channels and the gyro effect moment, and simplify the aircraft dynamics model;

[0126] (3) Consider the external disturbance term and coupling disturbance term in each loop as the output disturbance added to the loop, and design a disturbance compensator;

[0127] (4) Compensate with a disturbance compensator to realize the decoupling and disturbance compensation of the aircraft attitude system.

[0128] In step (2), air resistance, three-channel coupling and gyroscopic torque are ignored.

[0129] In step (4), using the disturbance compensator to perform compensation refers to using the distur...

Embodiment 2

[0143] This example compares the aircraft attitude control based on the cascade PID and the disturbance compensator based on the simulation experiment.

[0144] Simulation test:

[0145] In the Simulink software, the simulation block diagrams of attitude control based on cascaded PID and attitude decoupling control based on disturbance compensator for the hexacopter were built respectively, see Figure 6 and Figure 7 .

[0146] Attitude control simulation parameters based on cascade PID: the inner loop PID controller parameter value of roll angle and pitch angle channel is K p = 6,K i = 2,K p =0.01, the value of the outer loop proportional controller is K=5; the parameter value of the inner loop PID controller of the yaw angle channel is K p =2.7,K i = 1,K p =0.01, the value of the outer loop proportional controller is K=10.

[0147] Attitude decoupling control simulation parameters based on disturbance compensator: the filter parameters of the three channels of roll ...

Embodiment 3

[0170] In this example, an attitude control experiment is carried out on a self-built six-rotor aircraft platform to further verify the disturbance suppression performance of the six-rotor aircraft attitude decoupling control method in Embodiment 1 of the present invention. In the experiment, the three attitude angles of the hexacopter need to be controlled separately, so the single-channel mooring experiment method is adopted. The main purpose of the single-channel tethered experiment is to conduct an angle control experiment on the remaining channel under the premise of restricting the degrees of freedom of other channels.

[0171] The attitude roll (pitch) angle control experiment of the six-rotor aircraft was carried out on the experimental platform built, and the attitude control methods based on the disturbance compensator and the cascade PID were used respectively. In the experiment, the remote control was used to control the attitude of the aircraft, and the attitude in...

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Abstract

An embodiment of the invention provides a six-rotor aircraft attitude decoupling control method. according to the six-rotor aircraft attitude decoupling control method, an undesired coupling terms ineach loop are regarded as output disturbances applied to the loop, an appropriate disturbance compensator is designed to compensate for the output disturbances and external disturbances, and the adverse effects of strong coupling and the external disturbances of an aircraft system are eliminated. The traditional disturbance observer is not suitable for a multi-input multi-output system. An anti-disturbance observer adopted in the six-rotor aircraft attitude decoupling control method can be used for the decoupling control of the multi-input multi-output system, ensures the disturbance suppression performance and robust stability of the disturbance compensator, has good decoupling and disturbance suppression, and can ensure good tracking performance and stability of a six-rotor aircraft.

Description

technical field [0001] The invention belongs to the technical field of aircraft control, and in particular relates to a six-rotor aircraft attitude decoupling control method. Background technique [0002] The six-rotor aircraft is a micro-aircraft powered by six motors. It consists of six symmetrically distributed rotors. It has the characteristics of small size, simple mechanical structure, compact structure, vertical take-off and landing, and relatively complete flight control algorithms. It is widely used. In entertainment, aerial photography, detection and early warning and other civilian and police fields. By changing the organizational form of the six rotors, the aircraft can make the system present different working modes of under-actuation or full-actuation. Compared with the general multi-rotor aircraft, which needs to control the change of attitude angle and then control the horizontal movement, the body of the hexacopter aircraft is equipped with six connecting r...

Claims

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Application Information

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IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 李涵雄王雅昕张沛毅谭芳
Owner CENT SOUTH UNIV
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