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Small fixed-wing UAV attitude control method based on H infinite loop forming algorithm

A control method and fixed-wing technology, applied in the field of aircraft control, can solve problems such as poor model control performance and poor robustness, and achieve the effects of improving stability and rapidity, improving robustness, and improving steady-state accuracy

Pending Publication Date: 2019-10-25
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

At present, the commonly used proportional-integral-derivative (PID) algorithm for fixed-wing attitude control does not depend on models, its principle is simple, and its application is wide. Problems such as poor stickiness

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  • Small fixed-wing UAV attitude control method based on H infinite loop forming algorithm
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  • Small fixed-wing UAV attitude control method based on H infinite loop forming algorithm

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Embodiment Construction

[0031] Embodiments of the present invention are described in detail below, and the embodiments are exemplary and intended to explain the present invention, but should not be construed as limiting the present invention.

[0032] refer to figure 1 , small fixed-wing unmanned aerial vehicle, as the name suggests, the position of the wing remains unchanged, and most modern civil aviation aircraft and fighter jets are fixed-wing aircraft. Small fixed-wing drones generate forward thrust from engines or motors. According to Bernoulli's principle, the wings generate upward lift to offset the weight of the drone. The operating rudder surface has ailerons, rudders, and elevators.

[0033] refer to figure 2 and 3 , assuming that the ground coordinate system is an inertial coordinate system, ignoring the curvature of the earth, and establishing a ground coordinate system (O g x g the y g z g ), body coordinate system (Oxyz) and airflow coordinate system (Ox a the y a z a ). Acco...

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Abstract

The invention discloses a small fixed-wing UAV attitude control method based on an H infinite loop forming algorithm. A fixed-wing UAV attitude controller is designed by combining related knowledge ofthe classical control theory and the modern control theory. A control loop includes a PID controller, a low pass filter, an anti-integrator saturator, and an H infinite controller. The PID controlleris arranged at a forward channel to increase the low frequency gain of the system and reduce the steady state error. The low pass filter is applied to a feedback channel and is mainly used for suppressing high frequency noises in UAV sensor data. The anti-integrator saturator is used for preventing the flight performance from being affected by output saturation of the steering engine. The H infinite controller is used for improving the attitude control robustness of the UAV. Therefore, the fixed-wing UAV can keep the high robustness in a complicated environment or on the condition of changingparameters of the UAV; and the error of command tracking is reduced and the control accuracy is enhanced.

Description

technical field [0001] The invention belongs to the technical field of aircraft control, in particular to an attitude control method for a small fixed-wing unmanned aerial vehicle based on an H∞ loop forming algorithm. Background technique [0002] In the past ten years, UAV-related technologies have developed rapidly. UAVs have gradually entered the public's field of vision from the original military field, and they have shined brilliantly in the civilian field. With the addition of a large number of researchers, there are more and more types of unmanned aerial vehicles, such as fixed-wing UAVs, multi-rotor UAVs, umbrella-wing UAVs, flapping-wing UAVs, compound-wing UAVs, etc. It is also becoming more and more extensive, such as agriculture, forestry and plant protection, power inspection, meteorological observation, urban environmental monitoring, express freight, aerial photography and so on. [0003] Fixed-wing UAV, as the name suggests, the position of the wing remains...

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Application Information

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IPC IPC(8): G05D1/08
CPCG05D1/0808
Inventor 刘贞报陈露露贾真江飞鸿张超布树辉
Owner NORTHWESTERN POLYTECHNICAL UNIV
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