Rotor wing type plant protection unmanned aerial vehicle attitude tracking control method based on anti-saturation finite time

A plant protection UAV, limited time technology, applied in the field of attitude tracking control of rotary-wing plant protection UAV, to achieve the effect of improving saturation suppression capability, suppressing jitter phenomenon, improving robustness and trajectory tracking quality

Inactive Publication Date: 2021-08-06
HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
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Problems solved by technology

[0006] The purpose of the present invention is to solve the defect in the prior art that it is difficult to perform attitude tracking control on the rotor type plant pr

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  • Rotor wing type plant protection unmanned aerial vehicle attitude tracking control method based on anti-saturation finite time
  • Rotor wing type plant protection unmanned aerial vehicle attitude tracking control method based on anti-saturation finite time
  • Rotor wing type plant protection unmanned aerial vehicle attitude tracking control method based on anti-saturation finite time

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[0102] In order to have a further understanding and understanding of the structural features of the present invention and the achieved effects, the preferred embodiments and accompanying drawings are used for a detailed description, as follows:

[0103] Such as figure 1 and figure 2 As shown, a kind of anti-saturation finite time based rotor type plant protection drone attitude tracking control method according to the present invention comprises the following steps:

[0104] The first step is to obtain the desired attitude angle data: obtain the expected attitude angle data input into the flight data memory of the rotor-type plant protection UAV, and the expected attitude angle data is set according to the flight attitude requirements of the rotor-type plant protection UAV.

[0105] The second step is the collection of real-time attitude angle data: collect real-time data of attitude angle through the attitude sensor carried by the rotor-type plant protection UAV, and save t...

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Abstract

The invention relates to a rotor wing type plant protection unmanned aerial vehicle attitude tracking control method based on anti-saturation finite time. Compared with the prior art, the defect that attitude tracking control on a rotor wing type plant protection unmanned aerial vehicle is difficult is overcome. The method comprises the following steps: acquiring expected attitude angle data; acquiring real-time attitude angle data; establishing a complete attitude mathematical model; establishing a complete attitude mathematical expansion model; designing a finite time expansion observer; designing an auxiliary power system; designing a finite time attitude tracking controller; and controlling and adjusting the attitude of the rotary wing type plant protection unmanned aerial vehicle. According to the method, the rotor wing type plant protection unmanned aerial vehicle can track the expected attitude angle signal in finite time, the anti-interference capability of a flight control system and the saturation suppression capability of an actuator are improved, the tracking error convergence speed is increased, and the jitter phenomenon output by the system is effectively suppressed.

Description

technical field [0001] The invention relates to the field of unmanned aerial vehicle control, in particular to an attitude tracking control method for a rotary-wing plant protection unmanned aerial vehicle based on the anti-saturation finite time. Background technique [0002] With the continuous improvement of our country's requirements for the development of precision agriculture, the rotary-wing plant protection UAV has many advantages such as low manufacturing cost, uniform spraying, simple operation, strong environmental adaptability, and not easy to damage the growing environment of crops during operation. It has received extensive attention from industry and academia. At the same time, the rotor-type plant protection UAV can be operated remotely by remote control to avoid direct contact between the operator and the drug, thereby reducing the negative impact of pesticides on the health of the operator. Compared with the traditional backpack-type manual operation metho...

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Application Information

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IPC IPC(8): G05D1/10G05D1/08
CPCG05D1/0808G05D1/106
Inventor 王儒敬刘康李瑞张洁黄子良滕越刘海云董士风焦林王晓栋
Owner HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
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