Fixed-wing unmanned aerial vehicle robust discrete fractional order control method considering external wind interference

A technology of fractional-order control and unmanned aerial vehicles, which is applied in the direction of attitude control, non-electric variable control, control/regulation system, etc. It can solve problems such as wind disturbance, system performance deterioration, and control law that is difficult to achieve performance indicators.

Active Publication Date: 2020-02-14
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

At the same time, UAVs will inevitably encounter disturbances such as wind disturbances during flight.
If the influence of external wind disturbance is not considered, it may lead to the deterioration of system performance
At this time, the control law based on traditional system design is generally difficult to achieve the desired performance index

Method used

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  • Fixed-wing unmanned aerial vehicle robust discrete fractional order control method considering external wind interference
  • Fixed-wing unmanned aerial vehicle robust discrete fractional order control method considering external wind interference
  • Fixed-wing unmanned aerial vehicle robust discrete fractional order control method considering external wind interference

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Embodiment Construction

[0076] Embodiments of the invention are described in detail below, examples of which are illustrated in the accompanying drawings. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention.

[0077] Such as figure 1 As shown, the present invention provides a robust discrete fractional set control method that enables the fixed-wing UAV to not only maintain stability under the influence of external wind disturbance, but also track the desired reference trajectory. The control method is specifically divided into the following steps:

[0078] (1) According to the Newton-Euler theorem, establish the fixed-wing UAV longitudinal flight control system and attitude dynamics system model under the influence of external wind interference;

[0079] (2) Using the Euler approximation method to convert the continuous form UAV nonlinear model with wind interference into a ...

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Abstract

The invention discloses a fixed-wing unmanned aerial vehicle robust discrete fractional order control method considering external wind interference. The method specifically comprises the steps that firstly, a fixed-wing unmanned aerial vehicle longitudinal control system and attitude dynamics system model under external wind interference is established; then, a continuous form unmanned aerial vehicle nonlinear model with wind interference is converted into a discrete form by using an Euler approximation method, and a discrete interference observer is designed to compensate the adverse influence of external wind interference on the flight control performance of the fixed-wing unmanned aerial vehicle; and finally, a discrete fractional order theory and a backstepping method are combined to design a control scheme based on the discrete interference observer so as to solve the problem of unmanned aerial vehicle robust discrete anti-interference tracking control considering external wind interference. According to the invention, the influence of wind interference on the flight control performance of the fixed-wing unmanned aerial vehicle is considered, and the robust discrete fractionalorder control method based on the interference observer is provided, so that flight of the fixed-wing unmanned aerial vehicle can be effectively controlled, and an expected reference trajectory can be tracked.

Description

technical field [0001] The invention relates to a robust discrete fractional-order control method for a fixed-wing unmanned aerial vehicle considering external wind interference, and belongs to the technical field of aircraft robust control. Background technique [0002] UAV can be defined as an aircraft without a pilot, and it is an unmanned aircraft that can be operated remotely or autonomously during mission flight. Due to the advantages of low cost, strong flexibility, and wide application range, UAVs have developed rapidly in recent years and are increasingly used in civilian and military fields. Examples include aerial photography, crop monitoring and pesticide spraying, flock monitoring, coast guard search and rescue, coastline and waterway monitoring, pollution and land monitoring, forest fire detection, reconnaissance, monitoring enemy activity, and mine location and destruction applications. Therefore, due to the wide range of applications of UAVs, in recent decad...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08
CPCG05D1/0825
Inventor 邵书义陈谋姜斌甄子洋盛守照张柯
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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