Fuzzy self-adaptive attitude control method for tail-push type double-duct unmanned aerial vehicle

Abstract

The invention provides a fuzzy self-adaptive attitude control method for a tail-push type double-duct unmanned aerial vehicle, and the method comprises the steps: for an unmanned aerial vehicle with atail-push type double-duct layout, enabling the unmanned aerial vehicle to operate rolling motion through double-duct rotating speed differential motion, and enabling a tail rotor to operate pitchingmotion and heading motion through longitudinal and transverse periodic variable pitches; the method aims at the control characteristics and control rules of the unmanned aerial vehicle with the special structure. A fuzzy adaptive control algorithm based on expert experience is utilized; fuzzy reasoning is carried out in a mode of simulating human experience, and the change rule of attitude deviation and rate deviation E / EC of the attitude deviation is studied according to a mathematical model of a controlled object, so that a self-adaptive fuzzy PID parameter correction rule table is established, and the correction amount of initial PID parameters is dynamically obtained in the control process. Simulation results show that PID parameters revised on line in real time can achieve a good control effect on attitude control of the tail-push type double-duct unmanned aerial vehicle.

Description

technical field [0001] The disclosed patent relates to the field of flight control of new configuration UAVs, in particular to the field of flight control of tail-push double-duct UAVs. Background technique [0002] The ducted UAV is compact in structure and has the function of vertical take-off and landing. It is suitable for the flight environment with dense environment, narrow airspace and complex take-off and landing sites. flight safety; its propulsion efficiency is higher than that of multi-rotors, the duct wall greatly reduces the tip loss, the duct can maintain the pressure difference between the upper and lower sides of the propeller disc, and the excellent duct lip design can generate intake suction, which is better than a single propeller Generate greater pulling force; and the rotor is placed inside the duct, which effectively reduces noise, and the duct can further reduce heat radiation and improve concealment. [0003] In view of the above advantages, it has g...

AI Technical Summary

Problems solved by technology

[0004] At present, the mainstream ducted drones mostly use a single duct as the main body of the aircraft and provide the main lift. The mounting space is small, and the avionics equipment is close to the engine, the vibration environment is harsh, and the attitude control of the aircraft relies on internal diversion. The control force or moment is generated by the plate, the force arm is short, and the stability characteristics of attitude control are poor

[0005] A ducted UAV that uses auxiliary ducts to control attitude. Attitude control generally requires at least four small ducts. Generally, the main duct of large-load ducted UAVs is oil-powered, and the auxiliary duct is electric power. , there is a large consumption of fuel and electric energy during the mission flight, and the cost of use and maintenance is high

Images