Control method and controller based on robust servo control and model adaptive control

An adaptive controller and model self-adaptive technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problem of unmanned aerial vehicles affecting flight control accuracy and safety, so as to improve dynamic response ability, Ensure steady-state response indicators and fast response effects

Inactive Publication Date: 2019-08-06
CHINA ELECTRONIC TECH GRP CORP NO 38 RES INST
View PDF7 Cites 2 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is: how to solve the problem that the flight control accuracy and safety of the unmanned aerial vehicle are affected by airflow disturbance during flight, and a control method based on robust servo control and model adaptive control is provided

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Control method and controller based on robust servo control and model adaptive control
  • Control method and controller based on robust servo control and model adaptive control
  • Control method and controller based on robust servo control and model adaptive control

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0073] The embodiments of the present invention are described in detail below, and the present embodiments are implemented on the premise of the technical solution of the present invention, and detailed implementation methods and specific operating procedures are provided, but the protection scope of the present invention is not limited to the following implementation example.

[0074] This embodiment provides a technical solution:

[0075] Robust Servo Control Method Based on RSLQR

[0076] The present invention proposes a robust linear quadratic tracker based on RSLQR for the robustness requirements of signal tracking in practical applications, such as figure 1 shown. In order to achieve the above goals, it is first necessary to determine the expected input polynomial of the system, and the command input signal r(t) can satisfy the polynomial: Define that the variable z to be controlled belongs to the subset of the output variable y, and the control target of the system ...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses a control method and a controller based on robust servo control and model adaptive control and belongs to the unmanned aerial vehicle control technology field. The method comprises the following steps of S101, acquiring control input of a system; S102, determining a structure of an adaptive controller; and S103, determining a mathematic model of an aircraft linear system. In the step of S103, introduced disturbance and uncertainty factors include rudder surface efficiency of an aircraft, matching disturbance, and mismatched wind disturbance. The method and the controller have advantages that a response is fast, the method and the controller have an inhibiting effect on various uncertainty interference types, and a steady-state response index, and transient responseperformance of a system can be ensured; and through a robust servo combination method, robustness of the system to a disturbance signal is increased and a dynamic response capability is improved.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicle control, in particular to a control method and a controller based on robust servo control and model adaptive control. Background technique [0002] UAV anti-airflow disturbance refers to the aircraft disturbance caused by encountering turbulence during flight, or encountering turbulence and ship wake disturbance during landing. In terms of the design of the anti-disturbance controller of UAV, looking at the research plans of domestic scholars, some scholars use the multivariable frequency domain algorithm based on LQG / LTR to verify the design of their longitudinal autonomous landing control system. The control method has strong robustness; some scholars use the classic PID to land on the land-based simulated aircraft carrier, and introduce the optical guidance method to improve the trajectory control accuracy. Through the actual flight, the requirements of the trajectory control ac...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 王鑫胡中华龙国庆荣海春周喜军许军刘鑫磊
Owner CHINA ELECTRONIC TECH GRP CORP NO 38 RES INST
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap