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Attitude control method of composite wing vertical take-off and landing unmanned aerial vehicle

A vertical take-off and landing and attitude control technology, applied in the field of aircraft control, can solve the problems of poor model control performance and poor robustness, and achieve the effects of smooth and efficient switching modes, improved accuracy, and improved stability

Active Publication Date: 2020-04-17
NORTHWESTERN POLYTECHNICAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

PID does not rely on the UAV model, the principle is simple and has a wide range of applications, but due to the uncertainty of the algorithm, it will lead to problems such as poor model control performance, easy to produce overshoot and oscillation, and poor robustness.

Method used

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  • Attitude control method of composite wing vertical take-off and landing unmanned aerial vehicle
  • Attitude control method of composite wing vertical take-off and landing unmanned aerial vehicle
  • Attitude control method of composite wing vertical take-off and landing unmanned aerial vehicle

Examples

Experimental program
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Effect test

Embodiment 1

[0066] A composite-wing vertical take-off and landing UAV attitude control method includes the following steps:

[0067] Step 1. Establish the non-linear kinematics and dynamics model of the compound-wing vertical take-off and landing UAV in fixed-wing mode or multi-rotor mode.

[0068] Reference figure 1 , The compound-wing vertical take-off and landing UAV has two sets of power systems, fixed-wing and quad-rotor. For this UAV, nonlinear kinematics and dynamics models in fixed-wing mode and multi-rotor mode are established, and external interference and models are considered. Uncertainty. Assuming the ground coordinate system is an inertial coordinate system, ignoring the curvature of the earth, establish a ground coordinate system (O e x e y e z e ) And the body coordinate system (O b x b y b z b ). The nonlinear kinematics and dynamics model in fixed-wing mode, as shown in equation (1), the attitude control input of fixed-wing mode after decoupling linearization is elevator de...

Embodiment 2

[0103] Reference Figure 4 The present invention also provides a method for controlling the attitude of the compound-wing vertical take-off and landing UAV in the fixed-wing mode and the multi-rotor mode.

[0104] This method is the same as step 1 and step 2 of the posture control method of embodiment 1, except for step 3, which is specifically as follows:

[0105] Step 3. According to the control system of the fixed-wing mode and the multi-rotor mode, design the conversion mode controller, and the conversion mode controller outputs the weighting coefficients of the fixed-wing mode and the multi-rotor mode according to the airspeed changes;

[0106] Determine the servo commands for the fixed-wing mode and the multi-rotor mode according to the weighting coefficient of the fixed-wing mode and the multi-rotor mode;

[0107] According to the servo command of the fixed-wing mode and the multi-rotor mode, the two power systems are controlled according to the servo command, and then the flig...

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Abstract

The invention discloses an attitude control method of a composite wing vertical take-off and landing unmanned aerial vehicle. Non-linear kinematics and dynamics models of a fixed wing mode and a multi-rotor mode are established, an attitude control system in a fixed-wing mode and a multi-rotor mode is established, the attitude control system adopts combination of a PD controller and an interval type-2 fuzzy neural network, aircraft stability of the fuzzy neural network during parameter learning can be ensured by adopting the combined design; secondly, a control error of the composite wing vertical take-off and landing unmanned aerial vehicle in a fixed wing mode or a multi-rotor mode is reduced, control precision is improved, that the fixed wing mode attitude control system and the multi-rotor mode attitude control system do not interfere with each other during working is guaranteed, and flight stability is improved.

Description

Technical field [0001] The invention belongs to the technical field of aircraft control, and particularly relates to an attitude control method for a composite-wing vertical take-off and landing unmanned aerial vehicle. Background technique [0002] In recent years, the compound-wing vertical take-off and landing UAV has attracted the attention of a large number of researchers. The composite design of the fixed wing and the rotor makes it a perfect combination of a rotary wing UAV with vertical take-off and landing, fixed-point hovering, low-speed and stable flight capabilities and a fixed-wing UAV with efficient and high-speed flight capabilities. [0003] The composite-wing vertical take-off and landing drone does not require a runway, supporting supporting facilities and related staff, and can be deployed in places with complex ground environments such as urban streets, mountains and hills, forests and deserts, and can be used in oil pipeline inspections, power inspections, and ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08B64C27/22B64C29/00
CPCB64C27/22B64C29/00G05D1/0808
Inventor 刘贞报陈露露江飞鸿严月浩张军红
Owner NORTHWESTERN POLYTECHNICAL UNIV
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