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Finite time height and attitude tracking control method for unmanned helicopter

An unmanned helicopter, time-limited technology, applied in the field of flight control of unmanned helicopters

Active Publication Date: 2019-10-25
SOUTHEAST UNIV
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

But it only proves that all signals of the closed-loop system are uniformly bounded and stable

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  • Finite time height and attitude tracking control method for unmanned helicopter
  • Finite time height and attitude tracking control method for unmanned helicopter
  • Finite time height and attitude tracking control method for unmanned helicopter

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Embodiment Construction

[0061] Below in conjunction with accompanying drawing, technical scheme of the present invention is described in further detail:

[0062] Step 1: Calculate the 6-DOF model, waving model, force and moment of the unmanned helicopter in sequence, and then comprehensively obtain the height and attitude model considering the interference.

[0063] (a) The unmanned helicopter model with 6 degrees of freedom is:

[0064]

[0065] Among them, m represents the mass of the unmanned helicopter, g, P=[x y z] T ∈ R 3 , η=[φ θ ψ] T ∈ R 3 and V=[V x V y V z ] T ∈ R 3 Respectively represent its gravitational acceleration, position, attitude and linear velocity in the inertial coordinate system; ω b =[p q r] T ∈ R 3 and f b =[f x f y f z ] T ∈ R 3 , τ b =[τ x τ y τ z ] T ∈ R 3 Respectively represent the attitude angular velocity and the force and moment it receives in the body coordinate system; p, q, r are the roll angular velocity, pitch angular velocity, and y...

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Abstract

The invention discloses a finite time height and attitude tracking control method for an unmanned helicopter. The finite time height and attitude tracking control method comprises the step of: firstly, considering a flapping model of a main rotor and an aileron, and establishing a height and attitude comprehensive model; secondly, constructing a finite time disturbance observer to estimate unknowntime-varying interference, and acquiring an interference estimation value; thirdly, designing a height and attitude composite anti-interference tracking controller by combining a power adding integration method based the observed interference estimation value; and finally, selecting appropriate controller gain and observer gain according to design rules, so as to achieve finite time tracking of height and attitude. The finite time height and attitude tracking control method improves the precision, rapidity and anti-interference performance of the unmanned helicopter height and attitude closed-loop tracking system.

Description

technical field [0001] The invention relates to a finite-time altitude and attitude tracking control method of an unmanned helicopter, belonging to the technical field of flight control of the unmanned helicopter. Background technique [0002] In recent years, unmanned helicopters have attracted widespread attention due to their unique advantages, such as vertical take-off and landing, low-altitude flight, and flight in small and complex environments such as mountains and buildings. Based on these advantages, unmanned helicopters are widely used in aerial photography, rescue, detection and other tasks. However, an unmanned helicopter is a highly nonlinear, underactuated, and strongly coupled system. Furthermore, its flight performance is easily affected by disturbances, such as gusts of wind. Therefore, designing a high-performance flight controller becomes a challenging research topic. [0003] At present, there are two main control methods for unmanned helicopter system...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 王翔宇韩玲李世华杨俊
Owner SOUTHEAST UNIV
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