Design method of attitude subsystem controller for attitude angle control input saturation

A design method and subsystem technology, applied in the direction of attitude control, control/regulation system, non-electric variable control, etc., can solve the problems of poor control effect of drones, destructive disasters of drones, etc.

Active Publication Date: 2021-07-13
XIAN UNIV OF TECH
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Problems solved by technology

[0003]During the large-angle turning maneuver flight of the quadrotor UAV, the input saturation for the attitude angle control will cause th

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  • Design method of attitude subsystem controller for attitude angle control input saturation
  • Design method of attitude subsystem controller for attitude angle control input saturation
  • Design method of attitude subsystem controller for attitude angle control input saturation

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[0048] The design method of the attitude subsystem controller for the attitude angle control input saturation, the overall process can be found in figure 1 , first input the expected signal into the attitude controller designed by the present invention, use the exponential observer in the attitude controller to observe the attitude of the UAV, and feed back the observed attitude to the sliding mode attitude combined with the double power approach rate In the controller, the virtual control output by the attitude controller is input into u 2 ,u 3 ,u 4 Input to the attitude subsystem to get the attitude angle φ, θ, ψ of the UAV. During the flight process of the UAV, it can be continuously updated to obtain the new attitude angle of the UAV. The attitude controller designed by the present invention specifically comprises the following steps:

[0049] Step 1, attitude angle control input saturation processing analysis:

[0050] During the flight of the quadrotor UAV, there is ...

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Abstract

A design method of an attitude subsystem controller for attitude angle control input saturation is provided, a double-power reaching law sliding mode controller based on an index observer is designed in combination with the index observer and a double-power reaching rate sliding mode control method for a quadrotor unmanned aerial vehicle attitude subsystem; a more accurate attitude angle of the four-rotor unmanned aerial vehicle can be obtained through the designed controller, and the attitude of the unmanned aerial vehicle can be better controlled; an expected attitude angle is given and input into the double-power approaching rate sliding mode controller based on the index observer, interference signals observed by the index observer in the controller are input into the attitude subsystem for interference compensation, and a new attitude angle can be obtained through the attitude subsystem. A new attitude angle signal is input into the designed controller again, closed-loop control is formed, and real-time updating is carried out. The problem of attitude angle control input saturation can be solved, the buffeting defect caused by sliding mode control is weakened to a certain extent, and the control precision and stability of the system can be improved.

Description

technical field [0001] The invention belongs to the technical field of attitude control of four-rotor unmanned aerial vehicles, in particular to an attitude subsystem controller design method aimed at attitude angle control input saturation, which is used to design a dual-power reaching law sliding mode controller (EO) based on an exponential observer. -DSMC). Background technique [0002] UAVs can not only perform military intelligence, reconnaissance and other tasks, but also can be used for irrigation, disaster prevention and early warning, festival performances and so on. In this new crown pneumonia epidemic, drones have also shown their advantages. Due to the simple structure of the quadrotor UAV, it is easy to use and operate, it can also hover, and it can take off and land vertically, so its research has high use value and practical significance. The quadrotor UAV system model has four-input and six-output underactuation and nonlinear characteristics. [0003] Duri...

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Application Information

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IPC IPC(8): G05D1/08
CPCG05D1/0833Y02T90/00
Inventor 弋英民徐婷婷苑易伟李东博孙海铭范笑林马璐
Owner XIAN UNIV OF TECH
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