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A fixed-time adaptive attitude control method for a three-degree-of-freedom quadrotor aircraft

A quadrotor aircraft and adaptive controller technology, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve the problems of quadrotor aircraft system model uncertainty, external interference, etc., to achieve good stability, The effect of suppressing disturbances in the system

Active Publication Date: 2022-04-08
ZHEJIANG UNIV OF TECH
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  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In order to solve the problems of model uncertainty and external interference in the quadrotor aircraft system, an adaptive control method is added to the attitude control of the quadrotor aircraft

Method used

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  • A fixed-time adaptive attitude control method for a three-degree-of-freedom quadrotor aircraft
  • A fixed-time adaptive attitude control method for a three-degree-of-freedom quadrotor aircraft
  • A fixed-time adaptive attitude control method for a three-degree-of-freedom quadrotor aircraft

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Embodiment Construction

[0097] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0098] refer to Figure 2-Figure 8 , a fixed-time adaptive attitude control method for a three-degree-of-freedom quadrotor aircraft, comprising the following steps:

[0099] Step 1, establish the voltage model of the quadrotor aircraft according to the dynamic principle, the process is as follows:

[0100] 1.1 Pitch axis and rotation axis model

[0101] The motions of the pitch and rotation axes are expressed by general equations as follows:

[0102]

[0103] Among them, θ is the actual angle of the pivot angle, L is the distance between the propeller motor and the pivot, J is the shaft moment of inertia, ΔF is the differential thrust, and the pitch axis voltage model is established as

[0104]

[0105] Among them, K f is the thrust constant, V f is the front motor voltage, V b is the rear motor voltage, θ p is the pitch angle, J ...

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Abstract

A fixed-time adaptive attitude control method for a three-degree-of-freedom four-rotor aircraft. In order to solve the singular value, the present invention designs a global non-singular terminal sliding mode surface, and adds Based on the adaptive control method, a non-singular terminal synovium fixed-time adaptive control method is designed in combination with the double power reaching law. This method not only improves the robustness of the system, but also compensates the errors caused by model errors and external disturbances, and can accurately control the flight attitude of the quadrotor aircraft. Experimental results show that the non-singular terminal sliding mode fixed-time self-adaptive control method designed in the present invention is a new type of control method for quadrotor aircraft that converges quickly, can effectively improve tracking accuracy, and suppress external disturbances.

Description

technical field [0001] The invention relates to a fixed-time adaptive control method for a quadrotor aircraft based on a non-singular terminal sliding mode, so that the quadrotor aircraft can still quickly track the preset expected value of the upper attitude angle under certain external disturbances. Background technique [0002] Due to its small and flexible structure, vertical take-off and landing, free hovering characteristics, low cost, and excellent performance, quadrotors are widely used in various fields, such as aerial photography, disaster inspection, etc. The four-rotor aircraft has a simple structure, and the rotation speed of the four propellers is mainly controlled by adjusting the speed of the motor, and then the flight attitude of the quad-rotor aircraft can be controlled. At the same time, due to its complex dynamic characteristics, the attitude control of quadrotors has always been a difficult point. [0003] In ordinary sliding mode control, a linear slid...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 陈荣陈强庄华亮
Owner ZHEJIANG UNIV OF TECH
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