Unlock instant, AI-driven research and patent intelligence for your innovation.

Model prediction control method of unmanned helicopter based on extended state observer

A technology of extended state observation and model predictive control, applied in the field of flight control of unmanned helicopters, which can solve the problems of inaccurate models, susceptible to interference, and high nonlinearity.

Pending Publication Date: 2021-09-21
郝晨乐
View PDF0 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The technical problem solved by the present invention is: Aiming at the characteristics of high nonlinearity, inaccurate model and susceptibility to interference of small unmanned helicopter system, a model predictive control method of unmanned helicopter based on extended state observer is proposed

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Model prediction control method of unmanned helicopter based on extended state observer
  • Model prediction control method of unmanned helicopter based on extended state observer
  • Model prediction control method of unmanned helicopter based on extended state observer

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0037] The technical solution of the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0038] Those skilled in the art can understand that, unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It should also be understood that terms such as those defined in commonly used dictionaries should be understood to have a meaning consistent with the meaning in the context of the prior art, and will not be interpreted in an idealized or overly formal sense unless defined as herein Explanation.

[0039] The detailed design steps of the embodiment of the present invention will be described below in conjunction with the accompanying drawings.

[0040] Step 1: Establish a 6-degree-of-freedom rigid body model of the unmanned helicopter system. The internal disturbance includes...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a model prediction control method of an unmanned helicopter based on an extended state observer. Based on an extended state observer and a model prediction control technology, the method comprises the following steps: firstly, establishing a six-degree-of-freedom rigid body model with lumped interference of an unmanned helicopter system; secondly, decomposing the six-degree-of-freedom rigid body model of the unmanned helicopter system into two subsystems, including a system with known parameters and a system with unknown parameters; thirdly, designing an attitude tracking controller based on the model predictive control technology, and obtaining the optimal control input of a helicopter attitude channel; and finally, designing an extended state observer according to the system state space model, calculating the total disturbance value of the unmanned helicopter, and compensating the optimal control input of the helicopter attitude channel. The method is simple in form, the complexity of an existing attitude tracking technology is reduced, accurate attitude tracking of the small unmanned helicopter in a complex interference environment can be achieved, and meanwhile the anti-interference performance of the system is effectively improved.

Description

technical field [0001] The invention relates to a model predictive control method of an unmanned helicopter based on an extended state observer, and belongs to the technical field of flight control of the unmanned helicopter. Background technique [0002] Unmanned helicopters have the advantages of autonomous take-off and landing, fixed-point hovering, and low-speed flight. It can replace humans to complete high-risk and mechanical work. Due to these significant advantages, unmanned helicopters have attracted the attention of many scholars. However, unmanned helicopters have the characteristics of uncertain parameters and susceptibility to external force interference, so designing a robust unmanned helicopter controller is a challenging task. [0003] In recent years, the control of the attitude channel of unmanned helicopters has been continuously developed, and the proposed linear control strategies (such as PID control, LQR control, etc.) are difficult to obtain satisfac...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 郝晨乐张庆新刘玉雪
Owner 郝晨乐