Method for controlling attitude stability of sea-air amphibious rotorcraft
A control method and robot technology, applied in the field of robots, to achieve the effects of high control precision, elimination of steady-state errors, and strong portability
Active Publication Date: 2020-06-26
SHANGHAI MARITIME UNIVERSITY
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[0003]
The object of the present invention is to provide a control method for attitude stability of a sea-air amphibious rotor robot to solve the problem of attitude stability of the sea-air amphibious rotor robot when moving underwater and across media
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[0012] The attitude stabilization control method of the sea-air amphibious rotor robot proposed by the present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments. Advantages and features of the present invention will be apparent from the following description and claims. It should be noted that the drawings are all in a very simplified form and use imprecise ratios, which are only used to facilitate and clearly assist the purpose of illustrating the embodiments of the present invention.
[0013] The core idea of the present invention is that the attitude stability control method of the sea-air amphibious rotor robot provided by the present invention can solve the problem that the existing rotor UAV is difficult to maintain a stable attitude underwater, and realize the underwater and air-sea amphibious rotor robot. The attitude is stable when moving across the medium. Compared with the traditional rotor U...
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The invention provides a control method for attitude stability of a sea-air amphibious rotorcraft, which comprises the following steps: detecting an attitude angle measurement value eta c = (phi, theta, psi) of the rotorcraft in real time, where phi, theta and psi are a pitch angle, a roll angle and a heading angle of a robot respectively; performing difference operation on the attitude angle measurement value eta c and an attitude angle set value eta s to obtain an attitude angle error e (k) and an attitude angle error change rate delta e (k) at the moment k: e (k) = eta s-eta c (k); delta e(k)=e(k) E (k 1); calculating an input signal ds and an output signal h (k) of the fuzzy controller P; solving an output signal of the hybrid fuzzy P + ID controller; wherein u (k) = u (k-1) + delta u(k), delta u (k) is the increment of the control signal u (k) of the robot propeller, T is the sampling period, KI is the integral control item coefficient, KD is the differential control item coefficient, h (k) is the output of the single-input fuzzy P controller, and e (k) is the attitude angle error at the moment k. According to the control method for attitude stability of the sea-air amphibious rotorcraft robot, attitude stability of the sea-air amphibious rotorcraft robot under water and during cross-medium movement is achieved, and the control method has the advantage of being high in control precision.
Description
technical field [0001] The invention relates to the technical field of robots, in particular to a control method for attitude stability of a sea-air amphibious rotor robot. Background technique [0002] With the country's increasing demand for marine surveys and environmental monitoring, the research on related monitoring technology platforms has also attracted more attention from various research institutions. Traditional survey methods are mainly underwater robots, but underwater robots move slowly in water and are inefficient for performing large-scale, multi-point survey tasks. Amphibious robots can fly in the air and submerge in the water, which can be completed efficiently. For marine survey and monitoring tasks, the rotor robot has the advantages of simple structure and strong hovering ability. The sea-air amphibious robot based on the rotor structure combines the advantages of both flying robots and underwater robots, and is very suitable for marine survey and monito...
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IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 陈琦朱大奇李欣
Owner SHANGHAI MARITIME UNIVERSITY