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Control method of quadrotor aircraft based on improved mpc-pid

A technology of a quadrotor aircraft and a control method, applied in attitude control, control/adjustment system, non-electric variable control, etc., can solve problems such as poor dynamic performance, achieve fast response speed and dynamic performance, reduce the amount of calculation and controller The effect of design sophistication

Active Publication Date: 2022-03-18
ZHENGZHOU UNIVERSITY OF LIGHT INDUSTRY
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Aiming at the technical problem of poor dynamic performance in the existing four-rotor aircraft control method, the present invention proposes a four-rotor aircraft control method based on improved MPC-PID. The improved model predictive control method is adopted through the outer ring, and the inner ring adopts The PID control method can provide a control method with good dynamic performance, fast response speed and high precision, and realize the stable control of the quadrotor aircraft

Method used

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  • Control method of quadrotor aircraft based on improved mpc-pid
  • Control method of quadrotor aircraft based on improved mpc-pid
  • Control method of quadrotor aircraft based on improved mpc-pid

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Embodiment Construction

[0079] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0080] Such as figure 1 and figure 2 As shown, a quadrotor aircraft control method based on improved MPC-PID, the specific steps are as follows:

[0081] S1. Establish a dynamic model of the quadrotor aircraft based on the structure and mechanics of the quadrotor aircraft.

[0082] Assume that the quadrotor aircraft is a rigid body, ignoring the vibration and elastic deformation of the body; the structure of the quadrotor aircraft is completely symmetrical,...

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Abstract

The present invention proposes a quadrotor aircraft control method based on improved MPC-PID. The dynamic model is linearized and transformed into the state space form; secondly, the control system of the quadrotor aircraft is designed, including the improved MPC controller and the incomplete differential PID controller, and the corresponding controllers are designed according to different channels; finally, using The control system of the present invention conducts a simulation experiment on the quadrotor aircraft, so that the body stably flies to a preset spatial position. According to different channels, the invention adopts the outer loop controller of improved MPC control and the inner loop controller of incomplete differential PID control, so that the controller has faster response speed and dynamic performance, and can be better applied to practical engineering.

Description

technical field [0001] The invention relates to the technical field of automatic control, in particular to a control method for a quadrotor aircraft based on an improved MPC-PID. Background technique [0002] Quadrotor aircraft has the advantages of high flexibility, strong safety, and various control methods. With the continuous development of sensor technology and microprocessors in recent years, quadrotor aircraft are more and more widely used in various industries, such as aerial photography. Photography, illegal photography, instrument detection, suspect tracking, etc. The above application scenarios all have basic requirements for the stable control of the quadrotor aircraft. Since the channels of the quadrotor aircraft are coupled to each other, and the working environment is easily disturbed by gusts of wind, the position and attitude control of the quadrotor aircraft is whether it can be widely used. The key link. [0003] Cascade PID control is currently one of t...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0825G05D1/101
Inventor 王辉王建辉王晟硕张九江刘红霞王才东张德海吴深费致根肖艳秋
Owner ZHENGZHOU UNIVERSITY OF LIGHT INDUSTRY