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A Finite Time Altitude and Attitude Tracking Control Method for Unmanned Helicopter

An unmanned helicopter, limited time technology, applied in the field of flight control of unmanned helicopters, to achieve the effect of broad application prospects

Active Publication Date: 2022-03-25
SOUTHEAST UNIV
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  • Abstract
  • Description
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  • 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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  • A Finite Time Altitude and Attitude Tracking Control Method for Unmanned Helicopter
  • A Finite Time Altitude and Attitude Tracking Control Method for Unmanned Helicopter
  • A Finite Time Altitude and Attitude Tracking Control Method for Unmanned Helicopter

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Embodiment Construction

[0055] Below in conjunction with accompanying drawing, the technical scheme of the present invention is described in further detail:

[0056] Step 1: The 6-DOF model of the unmanned helicopter, the swing model, and the calculation of force and moment are given in turn, and then the height and attitude model considering the interference is comprehensively obtained.

[0057] (a) The unmanned helicopter model with 6 degrees of freedom is:

[0058]

[0059] 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 =[pqr] 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, pitc...

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Abstract

The invention discloses a finite-time altitude and attitude tracking control method for an unmanned helicopter: first, consider the flapping model of the main rotor and aileron, and establish a comprehensive model of altitude and attitude; then, construct a finite-time disturbance observer to estimate the unknown time Change the interference to obtain the estimated value of the interference; then, based on the estimated value of the observed interference, combined with the power integral method, design the height and attitude compound anti-jamming tracking controller; finally, select the appropriate controller gain and observer gain according to the design rules , to achieve limited time tracking of altitude and attitude. The invention improves the accuracy, rapidity and anti-interference performance of the height and attitude closed-loop tracking system of the unmanned helicopter.

Description

technical field [0001] The invention relates to a limited-time altitude and attitude tracking control method of an unmanned helicopter, and belongs 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 flying 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 missions. However, an unmanned helicopter is a highly nonlinear, underactuated, and strongly coupled system. In addition, its flight performance is susceptible to disturbances such as gusts of wind. Therefore, designing a high-performance flight controller becomes a challenging research topic. [0003] At present, the control methods of unmanned helicopter systems mainly includ...

Claims

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Application Information

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Patent Type & Authority Patents(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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