Speed control method for loaded quadrotor unmanned aerial vehicle with known model parameters

A four-rotor UAV, speed control technology, applied in vehicle position/route/height control, adaptive control, general control system, etc.

Active Publication Date: 2020-09-29
CHONGQING UNIV
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

[0007] In view of this, the purpose of the present invention is to provide a kind of load quadrotor UAV speed control method with known model parameters, to solve the time-varying gain matrix in the system model when considering the load and the influence of load swing Quadrotor UAV Velocity Control Problem Under Actuator Saturation, Actuator Failure and State Constraints

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  • Speed control method for loaded quadrotor unmanned aerial vehicle with known model parameters
  • Speed control method for loaded quadrotor unmanned aerial vehicle with known model parameters
  • Speed control method for loaded quadrotor unmanned aerial vehicle with known model parameters

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Embodiment Construction

[0066] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0067] In this embodiment, the speed control method of the four-rotor UAV with load with known model parameters comprises the following steps:

[0068] 1) Establish a dynamic model of the quadrotor UAV with load, including:

[0069] In order to accurately describe the attitude and position information of the quadrotor UAV with a suspended load, the following coordinate system is defined:

[0070] ①Earth fixed coordinate system (e system)

[0071] Also known as the ground coordinate system, expressed as O e =(X e ,Y e ,Z e ). Take the center of the earth as the origin of coordinates O e , X e The axis points in a certain direction in the horizontal plane, Z e The axis is perpendicular to the ground and upwards. Then, Y is determined by the right-hand rule e axis.

[0072] ②Body coordinate system (b system)

[0073] Also known as body axis sy...

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Abstract

The invention discloses a speed control method for a loaded quadrotor unmanned aerial vehicle with known model parameters. The method comprises the following steps: 1) establishing a kinetic model ofthe loaded quadrotor unmanned aerial vehicle; 2) setting a speed tracking error ev = v-v* and ew = w-w* of the unmanned aerial vehicle, 3) additionally arranging a sensor on the unmanned aerial vehicle to measure swing angles alpha and beta in the flight process, and calculating a time-varying gain matrix B; and 4) designing a controller of a translation subsystem and a rotation subsystem of the loaded quadrotor unmanned aerial vehicle with known model parameters. According to the method, flight speed control of the loaded unmanned aerial vehicle under the actual conditions of a time-varying gain matrix, actuator saturation, actuator faults and the like is considered; the problem in controller design under time varying of a gain matrix after loading is solved, the proposed controller not only can ensure that all internal signals in a closed-loop system are bounded and continuous, but also can ensure that final errors converge in a small compact set, and it can be ensured that state constraint conditions are not violated in the process of obtaining good trajectory tracking performance.

Description

technical field [0001] The invention relates to the technical field of drone control, in particular to a speed control method of a loaded quadrotor drone. Background technique [0002] The propulsion system of the rotary-wing UAV is provided by multiple rotors. For example, a quadrotor UAV, when the thrust generated by the four propellers with motors is greater than the gravity and air resistance of the UAV itself, the UAV can take off. The attitude flight control of the UAV is performed by adjusting the speed of each motor to change the speed of each rotor by feeding back state information from the control system. [0003] In practical applications, quadrotor drones inevitably need to carry mission equipment or cameras to perform specific tasks. Generally, four-rotor drones generally adopt two methods of clamping and suspension. For example, when taking aerial photography, the clamping method must be used. This is to prevent the quadrotor UAV from flying unstable due to ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10G05B13/04
CPCG05D1/101G05B13/042
Inventor 沈志熙谭炼于爽爽党龙
Owner CHONGQING UNIV
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