Unmanned aerial vehicle sliding mode control sideslip turning method based on position errors
An unmanned aerial vehicle, control side technology, applied in two-dimensional position/course control, vehicle position/route/altitude control, attitude control and other directions, which can solve the problems of insufficient rapidity and unmanned aerial vehicle with more than enough sideslip and turning stability. , to achieve the effect of taking into account stability and rapidity, improving stability and rapidity, and improving rapidity
Active Publication Date: 2020-12-04
NAVAL UNIV OF ENG PLA
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[0004] The purpose of the present invention is to provide a sliding mode control method for unmanned aerial vehicles based on position error, and then at least to a certain extent overcome the unmanned aerial vehicles due to the limitations and defects of the related technology. sexual inadequacy
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[0054] Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete and fully convey the concept of example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided in order to give a thorough understanding of embodiments of the invention. However, those skilled in the art will appreciate that the technical solution of the present invention may be practiced without one or more of the specific details, or other methods, components, devices, steps, etc. may be adopted. In other instances, well-known technical solutions have not been shown or descr...
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The invention relates to an unmanned aerial vehicle sliding mode control sideslip turning method based on position errors. The method comprises the following steps: firstly, setting an expected lateral position signal according to a flight mission, installing a YIS500-N type MEMS tactical-grade inertial sensing system, measuring a yaw angle and a lateral acceleration, and then obtaining a lateralspeed and a position signal through integration; then, designing a sliding mode surface signal based on the position error, the integration and the speed, correcting and superposing to obtain a yaw angle expected signal, comparing the yaw angle expected signal with a yaw angle measurement signal to obtain a yaw angle error signal, resolving error integration and error approximate differential, anddesigning a sliding mode signal based on the angle error and the integration differential; and obtaining a comprehensive control signal of a yaw channel through correction and combination, and realizing sideslip turning of the unmanned aerial vehicle under the condition that a rolling channel is stable. The method has the advantage that a problem that the stability of a traditional sideslip turning aircraft is surplus and rapidity is insufficient is solved.
Description
technical field [0001] The invention relates to the field of stability and turning control of an unmanned aerial vehicle, in particular, to a method for sliding mode control of an unmanned aerial vehicle to control a sideslip and turn based on a position error. Background technique [0002] At present, there are two commonly used methods to control the lateral motion of the aircraft. One is the side slip and turn, that is, the side slip angle of the yaw channel is used to increase the power of the lateral motion, which is mainly through the yaw channel of the yaw channel. corner stability control. The second is banked turning, which improves the centripetal force of lateral turning through the rolling of the rolling channel. Compared with the two, the sideslip turn has the characteristics of more than stability but insufficient maneuverability and rapidity. Of course, the method of performing lateral movement according to the guiding law in the guiding phase is a special c...
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IPC IPC(8): B60W30/045G05D1/02G05D1/08
CPCB60W30/045G05D1/0202G05D1/0816
Inventor 李静王哲晋玉强雷军委李恒王瑞奇
Owner NAVAL UNIV OF ENG PLA