An omni-directional control method for a tiltable multi-rotor aircraft

Abstract

The invention discloses an omnidirectional control method for a tiltable multi-rotor aircraft. The steps are as follows: deriving a dynamic model and an actuator control distribution matrix; establishing an omnidirectional control model for parallel control of the aircraft position and attitude; deriving the aircraft velocity loop and The general form of the angular velocity loop expansion state observer; the design of the proportional-differential velocity controller and the angular velocity controller of the disturbance observer; the establishment of a linearized control allocation scheme for variable substitution. The invention improves the robustness and reliability of the attitude controller of the aerial robot; overcomes the influence of the parameter perturbation of the tiltable multi-rotor aircraft itself on the controller, and plays a good role in the unknown external disturbance received by the body during the flight. inhibition; the control parameters are easy to adjust and easy to realize in engineering.

Description

technical field [0001] The invention relates to the field of aircraft control, in particular to an omnidirectional control method for a tiltable multi-rotor aircraft. Background technique [0002] In recent years, the application of multi-rotor aircraft has gradually changed from traditional passive missions to active interactive missions. However, many challenges have emerged in new application scenarios, such as limited payload capacity, flight endurance period and the influence of outdoor uncertain factors , the main thing is the lack of driving, that is, the force and moment of six degrees of freedom cannot be formed. Quadrotors are used as the main platform in most applications and research, but lack a drive and can only generate forces in the vertical direction of the fuselage, which must be accelerated by roll and pitch in the horizontal direction. [0003] An omnidirectional aircraft is an aircraft with omnidirectional motion capability, which can independently cont...

AI Technical Summary

Problems solved by technology

[0002] In recent years, the application of multi-rotor aircraft has gradually changed from traditional passive tasks to active interactive tasks. However, many challenges have emerged in new application scenarios, such as limited payload capacity, flight duration, and the impact of outdoor uncertainties. , the most important thing is the lack of drive, that is, the force and moment of six degrees of freedom cannot be formed

Quadrotors are used as the main platform in most applications and research, but lack drives and are only able to develop forces in the vertical direction of the fuselage, which must be accelerated in the horizontal direction through roll and pitch

Kaufman E et al. proposed Design and development of a free-floating hexrotor UAV for 6-DOF maneuvers in the IEEE journal in 2014, and designed a nonlinear geometric controller that only considered attitude control; Ma Zhenqiang et al. in 2016 In the Journal of Flight Mechanics, the design and modeling of the six-rotor UAV with omnidirectional thrust vectoring is disclosed, and a kind of aircraft with thrust vectoring is proposed, but it is difficult for the aircraft to realize tilting and hovering; Rotorcraft, the reverse coaxial dual-rotor assembly is fixedly connected to the center of the body. By adjusting the power output of each rotor and the working inclination angle of the rotor, the aircraft can maintain the body level while achieving forward flight. However, the aircraft cannot achieve tilting and hovering. Patent pending There is no control method

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