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Six-rotor unmanned aerial vehicle MPC control method based on ROS platform

A control method and unmanned aerial vehicle technology, applied in the direction of attitude control, non-electric variable control, control/adjustment system, etc., can solve the problems of low control accuracy, poor flight stability of unmanned aerial vehicle, relying on manual remote control, etc., and achieve simplified control target effect

Inactive Publication Date: 2021-07-30
LVLIANG POWER SUPPLY COMPANY STATE GRID SHANXI ELECTRIC POWER
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Problems solved by technology

[0004] A six-rotor UAV MPC control method based on the ROS platform disclosed by the present invention can especially solve the problems of traditional UAV power inspection relying on manual remote control, low control accuracy, poor inspection effectiveness, and poor UAV flight stability. , can realize independent and precise inspection of power lines

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  • Six-rotor unmanned aerial vehicle MPC control method based on ROS platform

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[0051] The present invention will be described in detail below with reference to the drawings and embodiments. At the same time, the technical problems and beneficial effects solved by the technical solution of the present invention are also described. It should be pointed out that the described embodiments are only intended to facilitate the understanding of the present invention, and have no limiting effect on it.

[0052]refer to figure 1 , a ROS platform-based six-rotor unmanned aerial vehicle MPC control method disclosed in this embodiment, specifically includes the following steps:

[0053] Step 1: Model preprocessing. refer to figure 2 Model and Process Flowchart

[0054] 1) According to the Newton-Euler method, the nonlinear dynamic model of the six-rotor UAV is established, and its expression is as follows:

[0055]

[0056] In formula (1), x, y and z respectively denote the three-dimensional coordinates of the UAV, θ and ψ represent the roll angle, pitch an...

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Abstract

The invention discloses a six-rotor unmanned aerial vehicle MPC control method based on an ROS platform, and belongs to the field of unmanned aerial vehicle intelligent control. According to the method, the kinetic model of the six-rotor unmanned aerial vehicle is established, the problems of high nonlinearity and strong coupling of the model of the six-rotor unmanned aerial vehicle are solved through linearization processing of the model, and the control target is greatly simplified; a single-stage controller of the unmanned aerial vehicle is designed by adopting a model prediction control method, a control structure adopts a closed-loop control method, the position and the attitude of the unmanned aerial vehicle are controlled, and the shackle that a traditional unmanned aerial vehicle needs to be cascaded with two-stage controllers is broken through. The method has the advantages of strong autonomy, accurate tracking, high stability, low cost and the like, and can be applied to the fields of unmanned aerial vehicle power line inspection and the like.

Description

technical field [0001] The invention belongs to the field of intelligent control of unmanned aerial vehicles, and in particular relates to an MPC control method of a six-rotor unmanned aerial vehicle based on a ROS platform. Specifically, it relates to a method for trajectory tracking control of a six-rotor UAV based on model prediction control (model prediction control, MPC) and robot operating system (robot operating system, ROS). Background technique [0002] With the improvement and popularization of power infrastructure, in order to ensure the stable operation of the power system, it is necessary to conduct inspections on power lines. The location of the power line is often in the mountains and the environment is harsh, which threatens the life and health of the power workers. Therefore, it is very important to use drones for safe and effective power inspections. Fixed-wing aircraft are better suited for surveillance and large-scale mapping missions due to their longe...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10G05D1/08
CPCG05D1/0808G05D1/106
Inventor 邵云峰范静邹苏郦张涵羽范益民马中静
Owner LVLIANG POWER SUPPLY COMPANY STATE GRID SHANXI ELECTRIC POWER
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