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A strong self-coupling pi cooperative control method for large UAV UAV

A collaborative control, unmanned aerial vehicle technology, applied in the field of aircraft control, can solve the problems of poor real-time performance, out-of-control second-order non-singular dynamic terminal sliding mode control method, and large amount of calculation, so as to solve the problem of irreconcilability and avoid PID gain The effect of difficult tuning and simple structure

Active Publication Date: 2021-01-05
GUANGDONG JINGAO INFORMATION TECH CO LTD
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Problems solved by technology

However, when the UAV has parameter perturbation and actuator failure, the second-order nonsingular dynamic terminal sliding mode control method is out of control; the second-order non-singular terminal sliding mode control method based on CMAC and the second-order non-singular terminal sliding mode control method based on WCMAC Both methods use CMAC or WCMAC to estimate the UAV's internal and external uncertainties. However, these two methods have a large amount of calculation and poor real-time performance.

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  • A strong self-coupling pi cooperative control method for large UAV UAV
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Embodiment Construction

[0036] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and through specific implementation methods.

[0037] 1. Mapping ideas from non-affine nonlinear uncertain systems to reflective linear uncertain systems

[0038] Consider an Unmanned Aerial Vehicle (UAV) system:

[0039]

[0040] Among them: V, γ, and χ are the airspeed, track inclination angle, and track azimuth of the UAV, respectively; T, n, μ are the engine thrust, overload coefficient, and roll angle, respectively; g is the gravitational acceleration; M is the mass of the UAV ; D is resistance, and expressed as:

[0041]

[0042] Among them, the parameters of formula (2) are shown in Table 1 in detail:

[0043] Table 1 UAV basic parameters

[0044]

[0045]

[0046] At the same time, the actual flight safety requirements of UAV should also be considered, that is, the roll angle μ should meet: |μ|≤90°; the overload factor n sho...

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Abstract

Unmanned aerial vehicle (UAV) systems are a class of non-affine nonlinear enhanced coupling multiple input multiple output (MIMO) complex systems with input constraints. In order to solve a control problem of the complex systems, the present invention provides an enhanced auto-coupling PI (EAC-PI) cooperative control method for a large unmanned aerial vehicle (UAV). According to the control method provided by the present invention, dynamics and internal / external uncertainties of the UAV are defined as sum disturbances, so that a non-affine nonlinear enhanced coupling MIMO complex system is converted into an uncertain MIMO linear system, and thus an error dynamics system under sum disturbance excitation is established; on this basis, an EAC-PI cooperative controller model is designed for core coupling factors by using a velocity factor and an enchantment factor unrelated to a controlled object model. Theoretical analysis and a simulation result show that the EAC-PI cooperative control system has good global robust stability. The setting problem of PID is effectively solved. The present invention has a wide application prospect in the field of aircraft control.

Description

technical field [0001] The present invention relates to the technical field of aircraft control, in particular to a strong auto-coupling PI (Enhanced Auto-Coupling Proportional-Integral, EAC-PI) cooperative control method for a large unmanned aerial vehicle (Unmanned Aerial Vehicle, UAV). Background technique [0002] For more than half a century, classical control (cybernetics) based on frequency-domain design methods and modern control (model theory) based on time-domain design methods have developed independently, forming their own methodological systems. In actual control engineering, the error between the control target and the actual behavior of the controlled object is easy to obtain and can be properly processed. Therefore, the prototype of the control strategy of "eliminating errors based on errors", that is, PID (Proportional-Integral -Derivative, PID) controllers have been widely used in the field of industrial control. For practical control engineering problems,...

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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 曾喆昭贺文锋谷帅
Owner GUANGDONG JINGAO INFORMATION TECH CO LTD
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