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Rotor wing-tilt hybrid unmanned aerial vehicle nonlinear model predictive control method

A nonlinear model, predictive control technology, applied in adaptive control, general control system, control/regulation system, etc., can solve the problems of model interference, uncertainty, limited number of linear model sampling points, etc., to improve stability and track performance, optimize utilization

Active Publication Date: 2022-05-13
浙江蓝盒子航空科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The controller structure of most research designs is based on a linear model, without considering the dynamic characteristics of aerodynamics, and the number of sampling points of the linear model is limited, so it cannot track the full flight trajectory of the UAV.
Some scholars have proposed a nonlinear control model, but it is only used in simulation experiments, and there are problems of model interference and uncertainty in practical applications.

Method used

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  • Rotor wing-tilt hybrid unmanned aerial vehicle nonlinear model predictive control method
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  • Rotor wing-tilt hybrid unmanned aerial vehicle nonlinear model predictive control method

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Embodiment 1

[0068] Embodiment 1 of the present application provides a method such as figure 1 The non-linear model predictive control method of the rotor-tilt hybrid UAV is shown as follows:

[0069] Step 1. Define the important parameters of the UAV; in step 1, the UAV can realize any flight angle on the mechanical structure, including 11 driving degrees of freedom, and the driving degrees of freedom are determined by the four propeller angular velocity vectors w 1 ,w 2 ,w 3 ,w 4 , five control planes δ E and two tilt angles χ r , χ l composition; is the parameter dimension, attitude quaternion q 0 and Composition vector for attitude quaternion, H is Hamilton space;

[0070] Step 2. The controller of the rotary wing-tilt hybrid UAV must be able to deal with the problem of control authority changes. It is necessary to establish a highly nonlinear model and design a nonlinear model based on the navigation MPC algorithm (guidance-MPC); the nonlinear model includes navigation ...

Embodiment 2

[0129] On the basis of Embodiment 1, Embodiment 2 of the present application provides a verification method for the nonlinear model predictive control method of the rotor-tilt hybrid UAV in Embodiment 1:

[0130] Experimental result 1

[0131] Verify the control assignment algorithm, reconstruct the actual generated driving force and torque vector f according to Equation (23) and the brake command act , and with the expected value f of the initial thrust and torque vector des Compare. Table 3 below shows the statistical results of the relative error average μ and standard deviation σ between the driving force and torque generated by the experiment and the expected value. The results show that the relative error mean value μ and standard deviation σ are basically the same in different coordinate axis directions, and the standard deviation σ is controlled within 10%. Verify the accuracy and effectiveness of the control method proposed by the present invention.

[0132] Table...

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Abstract

The invention relates to a nonlinear model predictive control method for a rotor-tilt hybrid unmanned aerial vehicle. The method comprises the following steps: defining important parameters of the unmanned aerial vehicle; designing a nonlinear model based on a navigation MPC algorithm; designing a control distribution algorithm; and designing an unmanned aerial vehicle flight experiment. The method has the beneficial effects that an MPC (Model Predictive Control) method is designed and is applied to the rotor wing-tilt hybrid unmanned aerial vehicle, the nonlinear model of the unmanned aerial vehicle is deduced and established, and a multi-stage control distribution algorithm is designed; according to the method, nonlinear dynamic characteristics of the unmanned aerial vehicle are considered, a nonlinear MPC algorithm equation is established, a navigation MPC module calculates three types of control input variables including optimal driving force, an inclination angle and torque according to a reference speed, and automatic mutual conversion between an RW mode and an FW mode is achieved; the unmanned aerial vehicle applied by the invention can realize any flight angle on a mechanical structure.

Description

technical field [0001] The invention belongs to the field of hybrid UAV control, and in particular relates to a nonlinear model predictive control method for a rotary wing-tilt hybrid UAV. Background technique [0002] The rotary wing-tilt hybrid unmanned aerial vehicle (UAV) has both the rotary wing (rotary-wing, RW) vertical take-off and landing (VTOL) function, and the fixed-wing (fixed-wing, FW) efficient forward flight function. The controller configured for this type of UAV must deal with highly nonlinear dynamic behavior, and realize the free conversion of control authority during the conversion process of the two flight modes. [0003] At present, the commonly used control method is to design a set of stable controllers for each trim point in the full flight trajectory, and design gain scheduling (GS) or multiple controllers to select appropriate control rules for different flight purposes. The controller structure designed in most studies is based on a linear model...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042Y02T10/40
Inventor 汪秋婷沈国瑜李洪波
Owner 浙江蓝盒子航空科技有限公司
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