A Control Allocation Method for High Mobility Micro-UAV Considering Motor Saturation
A technology of control distribution and unmanned aerial vehicles, applied in the field of aircraft control, can solve problems such as airframe instability, achieve the effect of ensuring robustness and avoiding airframe instability
Active Publication Date: 2022-06-21
BEIHANG UNIV
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Problems solved by technology
In order to solve the above-mentioned traditional method of solving the motor saturation by reducing the pulling force, it is very easy to cause the deviation between the control torque input of the aircraft and the expected torque input, which makes the micro-UAV very easy to produce the body instability when it is flying with high maneuverability. The invention is based on the different importance of the control input of the micro-UAV in the case of high maneuvering flight, and proposes a method of dynamically setting the control input priority to realize the control allocation
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[0051] Flexible and versatile, highly maneuverable micro-UAVs can perform very complex tasks, such as traversing jungles or buildings, entering and exiting narrow gaps, and quickly locating targets. When the micro-UAV is in high maneuvering flight, the motor is very easy to be saturated, which will cause the deviation of control and cause the aircraft to lose control. The invention changes the calculation method of control input and sets different input priorities according to different flight modes, designs solutions under different priorities based on this idea, and generates a control distribution method that considers motor saturation.
[0052] The present invention will be further described below with reference to the accompanying drawings and embodiments. It should be understood that the following embodiments are intended to facilitate the understanding of the present invention, but do not have any limiting effect on it.
[0053] In this embodiment, a high-maneuvering mi...
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The invention belongs to the technical field of aircraft control, and in particular relates to a method for controlling and distributing a highly maneuverable micro-UAV considering motor saturation, comprising the steps of: dividing the flight modes of the micro-UAV, and analyzing the characteristics of each flight mode; according to each flight mode According to the characteristics of each flight mode, determine the control allocation equation of each flight mode and set the control input priority of each flight mode; solve the motor pull corresponding to each flight mode according to the determined control allocation equation, and formulate the corresponding The motor anti-saturation method; set the flight state, so that the micro UAV can seamlessly switch between different motor saturation prevention methods when performing flight tasks. According to the characteristics of each flight mode, the present invention sets the dynamic control input priority in each mode and determines the control distribution method, thereby making up for the defects of the traditional method and ensuring the stability of the micro-UAV in maneuvering flight to ensure the safety of the UAV. Flight safety.
Description
technical field [0001] The invention belongs to the technical field of aircraft control, and in particular relates to a control and distribution method for a highly maneuverable micro-UAV considering motor saturation. According to the characteristics of each flight mode, the invention sets the dynamic control input priority in each mode to determine the control distribution method, thereby making up for the defects of the traditional method, ensuring the stability of the micro-UAV in maneuvering flight and ensuring the stability of the UAV. flight safety. Background technique [0002] Micro UAV has the characteristics of small size, light weight, strong operability, can be carried by one person, good concealment, convenient operation, etc., and has huge military value and civil value. Different from traditional aircraft, the autonomous flight technology of micro-UAVs in complex environments is a very challenging research topic. As the complexity of the response situation i...
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IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 蔡志浩孙帮乐赵江王英勋李欣
Owner BEIHANG UNIV