Quadrotor 3D Path Tracking Method Based on Nonlinear PD Dual Closed-loop Control

A double-closed-loop control and path tracking technology, which is applied in non-electric variable control, vehicle position/route/height control, control/adjustment system, etc., can solve problems such as poor control accuracy and unstable flight attitude, so as to improve accuracy, Improve the effect of stability, smooth and stable trajectory

Active Publication Date: 2021-09-03
XIDIAN UNIV
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AI Technical Summary

Problems solved by technology

[0006] It is used to solve the problems of poor control accuracy and unstable flight attitude existing in the prior art

Method used

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  • Quadrotor 3D Path Tracking Method Based on Nonlinear PD Dual Closed-loop Control
  • Quadrotor 3D Path Tracking Method Based on Nonlinear PD Dual Closed-loop Control
  • Quadrotor 3D Path Tracking Method Based on Nonlinear PD Dual Closed-loop Control

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Embodiment Construction

[0056] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0057] refer to figure 1 , the present invention comprises the steps:

[0058] Step 1) Set the flight parameters of the quadrotor:

[0059] Divide the total flying time of the quadrotor in 3D space into N time periods, and obtain a set T={t including N+1 time points 0 ,t 1 ,…,t i ,…,t N}, where t 0 is the starting time point, and t 0 =0, t i For the i-th time point, N=500, the duration between adjacent time points is Δt=0.01, establish a coordinate system including the three directions of x, y, and z in 3D space, and set the quadrotor aircraft at t i The real pitch angle relative to the ground at time is The angular velocity is The true rollover angle is The angular velocity is The true yaw angle is The angular velocity is The position coordinates of the real trajectory The desired pitch angle is The desired defl...

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Abstract

The invention discloses a quadrotor 3D path tracking method based on nonlinear PD double closed-loop control. Firstly, the flight parameters of the quadrotor aircraft are set, and the trajectory model P of the quadrotor aircraft is constructed. c , and initialize the initialization result cache variable buffer and the expected rollover angle ψ c , and then according to the trajectory model P c Calculate the quadrotor at t i Row vector p of outer loop control quantity at time u i , and calculate the quadrotor at t through the outer loop control quantity i The total thrust of time T u i , the expected pitch angle and the expected yaw angle combined with the expected attitude to calculate the quadrotor aircraft at t i Inner loop attitude angle control matrix at time and according to the total thrust T u i Calculate and obtain the tracking result of controlling the path of the quadrotor aircraft, and finally adjust the trajectory model P through the set parameters c Carry out cycle control; the invention can effectively control the stability of quadrotor flight and obtain high-accuracy tracking results, and complete the path tracking flight control task of quadrotor unmanned navigation.

Description

technical field [0001] The invention belongs to the technical field of autonomous flight control of aircraft, and relates to a 3D path tracking method for a quadrotor aircraft, in particular to a 3D path tracking method for a quadrotor aircraft based on nonlinear PD double closed-loop control, which can be used for high-precision quadrotor aircraft. Automatic navigation control. Background technique [0002] A multi-rotor aircraft is a kind of UAV that relies on propellers and motors symmetrically distributed around the body to provide flight power to perform autonomous flight or remote control flight to complete designated tasks. Compared with fixed-wing aircraft, it has the advantages of excellent control performance, simple mechanical structure, flexible and diverse flight modes, etc. The super maneuverability and flight stability of vertical take-off and landing, fixed-point hovering have attracted wide attention from all walks of life. The more rotors a multi-rotor air...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0221G05D1/0223G05D1/0276
Inventor 刘静杨黔生
Owner XIDIAN UNIV
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