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Attitude control method of rotorcraft

A technology for rotorcraft and attitude control, which is applied in attitude control, non-electric variable control, control/regulation systems, etc., and can solve problems such as derivative term expansion.

Pending Publication Date: 2021-03-30
湖北航天飞行器研究所
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  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The robust control can make the control system more robust to external disturbances, and the dynamic surface can solve the problem of derivative term expansion in the derivation process of the multi-order system backstepping method, effectively improving the control performance of the quadrotor aircraft

Method used

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  • Attitude control method of rotorcraft
  • Attitude control method of rotorcraft
  • Attitude control method of rotorcraft

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Embodiment Construction

[0099] The present invention will be further described below in conjunction with specific examples.

[0100] figure 1 It is a flow chart of the quadrotor attitude control method provided by the present invention. In the various formulas of this embodiment, the symbols marked with "-" and a short horizontal line above their heads represent their first-order derivatives, and those marked with "--" two short horizontal lines above their heads represent their second-order derivatives ; For example, θ, φψx in formula (1) ψ2d with a dash "-" above their heads represents the first derivative of θ, represents the first derivative of φ, Represents the first derivative of ψ; stands for x ψ2d The first derivative of ; in the formula (3), θ, φ, ψ, the symbols marked with "--" two short horizontal lines on the top of the head represents the second derivative of θ, represents the second derivative of φ, represents the second derivative of ψ.

[0101] In this embodiment, the...

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Abstract

The invention relates to an attitude control method of a rotorcraft, which is used for controlling a pitch angle, a roll angle and a yaw angle of the rotorcraft, establishing a kinetic model of the attitude angle of the rotorcraft, estimating unknown parameters in the kinetic model in real time by using an adaptive method, compensating the uncertainty of the kinetic model, improving the robustnessof the control system by using a robustness method, and enhancing the anti-interference capability. Each attitude angle system is a second-order system, a backstepping method is adopted for derivation, derivation is sequentially carried out from the first order, a self-adaptive robust method is adopted for solving a result of each order, and finally the control law of the attitude angle is obtained. According to the method, the attitude angle is controlled by adopting a self-adaptive robust method, control parameters do not need to be accurately set like PID control (proportional-integral-derivative control), only the control parameters need to be large enough within a certain range, and parameter adjustment is simpler and more convenient; the requirement for the accuracy of the model isnot high, unknown parameters can be accurately estimated, and the tracking accuracy of expected signals is improved.

Description

technical field [0001] The invention belongs to the technical field of automatic control, and more specifically relates to an attitude control method and a controller of a rotorcraft. Background technique [0002] In recent years, multi-rotor aircraft has become a hot spot in the research of aviation products. It has been widely concerned and applied in civil and military fields due to its unique flying mode and light structure. The quadrotor aircraft has four propellers, which can be arranged in an X-shape or cross-shape. It only needs to adjust the lift of the four propellers by adjusting the speed of the four motors, so as to realize pitch, roll, yaw, lift and other flight actions. And it has the advantages of vertical take-off and landing, hovering and good maneuverability. In view of the wide application prospects of quadrotor aircraft, the research on the modeling and control of quadrotor is of great significance and value. [0003] Quadrotor aircraft is a nonlinear,...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08
CPCG05D1/0825Y02T90/00
Inventor 潘芷纯李康伟张达刘青黄晓龙许凯通张华君裴家涛
Owner 湖北航天飞行器研究所
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