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Unmanned aerial vehicle height intelligent control system and method

An intelligent control, drone technology, applied in the control/adjustment system, vehicle position/route/altitude control, attitude control and other directions, can solve the problem of inability to accurately control the height of the drone, and achieve precise control and overshoot. Small amount, fast convergence effect

Active Publication Date: 2020-08-07
NORTHWESTERN POLYTECHNICAL UNIV
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AI Technical Summary

Problems solved by technology

[0003]In the existing control system, the height control generally controls the speed and pitch angle separately, and both of them will cause the change of the height, so the UAV cannot be accurately controlled the height of

Method used

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  • Unmanned aerial vehicle height intelligent control system and method
  • Unmanned aerial vehicle height intelligent control system and method
  • Unmanned aerial vehicle height intelligent control system and method

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Embodiment Construction

[0063] The present invention will be further described in detail below in conjunction with the accompanying drawings, which are explanations rather than limitations of the present invention.

[0064] refer to figure 1 , is the reference map of the drone’s body reference coordinate system, 1 is the x-axis of the drone’s body coordinate system, 2 is the y-axis of the drone’s body coordinate system, 3 is the z-axis of the drone’s body coordinate system, and 4 is unmanned The roll angle of the drone, 5 is the pitch angle of the drone, and 6 is the yaw angle of the drone; in order to realize the highly intelligent control of the drone, it is necessary to control the pitch angle and throttle of the drone, the throttle is along the negative direction of the x-axis, and the pitch The angle θ rotates around the y-axis.

[0065] refer to figure 2 , a highly intelligent control method for an unmanned aerial vehicle, comprising the following steps:

[0066] Step 1. Obtain the expected...

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Abstract

The invention discloses an unmanned aerial vehicle height intelligent control system and method. An expected accelerator and an expected pitch angle are calculated through model prediction control andtotal energy control, then steering engine output and accelerator output are performed through attitude control, and height intelligent control of an unmanned aerial vehicle is realized. According tothe method, a rolling optimization strategy is adopted, uncertainty caused by interference and other factors can be made up in time, the dynamic performance of the height control system is good, meanwhile, a total energy calculation mode is adopted for coordinating and controlling the speed and the pitch angle, the overshoot of the height control system is small, convergence is fast, and the height of the unmanned aerial vehicle can be controlled more accurately.

Description

technical field [0001] The invention belongs to the field of unmanned aerial vehicle control, and specifically relates to a highly intelligent control system and method for an unmanned aerial vehicle. Background technique [0002] Intelligent unmanned aerial vehicles, namely unmanned aerial vehicles (UAVs), have been widely used in military and civilian fields in recent years for various tasks such as air surveillance, flight performances, and special flights. The control system of the UAV is the brain of the UAV, which controls the speed and attitude of the UAV at all times, and plays an important role in the reliable flight of the UAV. The height control of the UAV is in the UAV control system, which belongs to the position control subsystem, and is used to control the height change of the UAV, mainly by controlling the speed and pitch angle of the UAV. As the altitude continues to change, the speed and pitch angle of the drone should also change at all times, and the eff...

Claims

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Application Information

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IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0825G05D1/101Y02T10/40
Inventor 刘贞报许浒江飞鸿严月浩张军红
Owner NORTHWESTERN POLYTECHNICAL UNIV
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