Four-rotor aircraft safety control method based on high-order disturbance observer

A quadrotor aircraft and disturbance observer technology, applied in vehicle position/route/altitude control, attitude control, non-electric variable control, etc., can solve the problem of inaccurate modeling, high requirements for system model accuracy, and poor safety performance of aircraft. Strong and other problems, to eliminate modeling errors and ensure stability

Active Publication Date: 2019-10-11
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

[0005] Aiming at the problem that the quadrotor aircraft is susceptible to external interference and the safety performance of the aircraft is not strong, the present invention proposes a safety control method for the quadrotor aircraft based on a high-order disturbance observer, and designs a backstepping slide using the output of the disturbance observer The modular

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  • Four-rotor aircraft safety control method based on high-order disturbance observer
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  • Four-rotor aircraft safety control method based on high-order disturbance observer

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[0023] The present invention will be described in further detail below with reference to the accompanying drawings.

[0024] figure 1 , given the desired input (including the desired three-dimensional position coordinates P d and the desired heading angle ψ d ), which are respectively fed into the backstep sliding mode controller of the attitude loop and the backstep sliding mode controller of the position loop, where the other two desired attitude inputs of the attitude loop (the desired pitch angle and the desired roll angle θ d ) is solved by the backstepping sliding mode controller of the position loop. The controller of the two loops obtains four control variables for the input of the system model. According to the output of the system model, two high-order disturbance observers are designed for the attitude loop and the position loop respectively, which are used to estimate the external unknown disturbance, and calculate the external disturbance. The estimated distu...

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Abstract

The invention discloses a four-rotor aircraft safety control method based on a high-order disturbance observer, belonging to the technical field of aircraft safety control. The four-rotor aircraft safety control method based on the high-order disturbance observer comprises the following steps: (1) firstly, establishing a nonlinear system model of a four-rotor aircraft considering the attitude angle, angular velocity and various aerodynamic parameters of the four-rotor aircraft; (2) then using the high-order disturbance observer to estimate unknown attitude interferences and position interferences, and then proving the stability of the disturbance observer; and (3) compensating the interference estimated in step (2) through a four-rotor aircraft safety controller, so that the tracking effect is better when the system parameters of the four-rotor aircraft are inaccurate or changed, and the safety of the aircraft is ensured. By means of the four-rotor aircraft safety control method basedon the high-order disturbance observer, the problem that the requirements of a contragradience controller to the system model accuracy is too high is solved; and meanwhile, the influence of the external unknown interference on the system is compensated, and the four-rotor aircraft safety control problem in the case that the system modeling is inaccurate and the external unknown interference is existed can be solved.

Description

technical field [0001] The invention relates to a four-rotor aircraft safety control method based on a high-order disturbance observer, and belongs to the technical field of aircraft safety control. Background technique [0002] A UAV is an aircraft that does not need a pilot to drive, but only needs to use a flight control system, a remote control system, and a positioning and navigation system to complete the flight. Because of its small size, it can be used for reconnaissance, exploration, and strike work in harsh and complex environments and in small spaces. [0003] Quadrotor aircraft is a special kind of UAV, which provides lift by four propellers so that it can complete vertical take-off and landing functions, air hovering functions, etc. This is a unique and huge advantage compared to other UAVs. Compared with the helicopter that can also accomplish the above functions, the anti-torque torque can be offset each other between the four propellers, thereby saving the a...

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Application Information

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IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0825G05D1/101
Inventor 陈谋李轶锟姜斌盛守照邵书义张柯王玉惠甑子洋
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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