Small unmanned helicopter course control method based on JAYA algorithm optimization

Abstract

The invention discloses a small unmanned helicopter course control method based on JAYA algorithm optimization, which is used for solving the problem of course channel control of a small unmanned helicopter under model uncertainty and external interference. A yaw kinetic model of the unmanned helicopter is obtained through a Newton-Euler method, the model is simplified at a balance point, and meanwhile a yaw angular rate feedback mechanism is included; a nonsingular fast terminal sliding mode function with a switching function is selected to design a yaw controller, and a system error can be proved to converge to zero in finite time under a Lyapunov theoretical framework; a JAYA algorithm is introduced to set the parameters of the controller, so that the optimization quality and efficiencyare ensured; and the effectiveness of the control strategy is verified in a Matlab / Simulink simulation environment. According to the method, the anti-interference control problem of the small unmanned helicopter can be effectively solved, the buffeting phenomenon in traditional sliding mode control is inhibited, the control precision and robustness of the system are improved, and the high-precision trajectory tracking control of the small unmanned helicopter is realized.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicle flight controllers, in particular to a heading control method for small unmanned helicopters optimized based on the JAYA algorithm. Background technique [0002] In recent years, the demand for rotorcraft in military and civilian fields has doubled, such as battlefield survey, geographic surveying and mapping, tourism aerial photography, traffic control, environmental monitoring, etc. According to the number of rotors, rotorcraft can be divided into single-rotor and multi-rotor; The lift-to-drag ratio during flight is higher than that of multi-rotors, and the aerodynamic performance is good; unlike multi-rotors that rely on speed to control lift or steering, single-rotors can be achieved by adjusting the rotor pitch, so they have longer endurance and stronger of wind resistance. [0003] Therefore, this paper takes the single-rotor small UAV helicopter as the research object. In t...

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Problems solved by technology

[0003]Therefore, this paper takes the single-rotor small UAV helicopter as the research object. In the control structure of the small UAV helicopter, the heading channel control affects the control quality of the entire aircraft and maneuverability, so the heading control has been the focus of scholars' research. However, due to the strong coupling and underactuated nonlinear system of the small UAV helicopter, it is a huge challenge to design a high-quality heading controller.

[0004] For the research on the heading control of small UAV helicopters, the literature reports are continuously updated and uninterrupted. For example, Marcel et al. used the hybrid control algorithm to realize the yaw stability control of small UAV helicopters, that is, the LQR control strategy was introduced to configure the UAV system. The unstable pole in , and use PID algorithm to stabilize the state quantity of the yaw channel (BERGERMAN M, AMIDI O, MILLER J R, et al.Cascaded position and heading control of a robotichelicopter[C] / / 2007IEEE / RSJ International Conference on Intelligent Robotsand Systems.IEEE,2007:135-140.); Raptis et al. designed a trajectory tracking controller using the PID algorithm for the decoupling dynamic model of a small unmanned aerial vehicle helicopter, and realized the spiral rise by controlling the yaw angle in the simulation environment Tracking of curves and 8-shaped curves (RAPTIS I A, VALAVANIS K P.Linear and nonlinear control of small-scale unmanned helicopters[M].Springer Science&Business Media,2010:73-102.); After the heading linear model, Ding et al. adopted a linear active disturbance rejection controller to obtain a good control quality of the aircraft in the simulation and test environment (Ding L, Ma R, Wu H, et al. Yawcontrol of an unmanned aerial vehicle helicopter using linear active disturbance rejection control[J].Proceedings of the Institution of Mechanical Engineers,Part I:Journal of Systems and Control Engineering,2017,231(6):427-435.); But these linear control strategies have certain limitations, That is, it cannot describe a large-scale flight envelope. When encountering an unexpected situation, it is often necessary to correct the current state by increasing the control gain, which may cause the actuator to saturate, and even destroy the power unit in severe cases. Linear control strategy, sliding mode control is favored by scholars in UAV control

[0005]Although this control strategy can improve the robustness and adaptability of the UAV to the surrounding environment, it also has the defects of strong chattering, large overshoot and long adjustment time , in addition, when the UAV is flying at high altitude, it often encounters gusts of five to six levels, so the anti-interference must also be considered when designing the controller. Therefore, this application uses the idea of ​​switching control to improve the The singular and fast terminal sliding mode function ensures that the system state quantity can reach the equilibrium point within a limited time, speeds up the dynamic response of the system, and meets the needs of fast control of the yaw angle

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