A method and system for controlling all-terrain take-off and landing of a land-air mobile platform

Abstract

The present invention discloses a land-air mobile platform all-terrain take-off and landing control method and system, including the following steps: S1, the land-air mobile platform is equivalent to a state space model; the land-air mobile platform is an aircraft or a flying car; S2, introducing state estimation error feedback, and designing a system state observer based on the state space model; S3, based on the system state observer, giving an update law of system uncertainty estimation; S4, obtaining a control law based on the system state observer and the update law of system uncertainty estimation; S5, realizing the take-off and landing control of the land-air mobile platform through the system state observer, the update law of uncertainty estimation and the control law. The present invention does not need to add any additional mechanical mechanism or system, does not increase additional costs, and at the same time ensures a good load capacity of the aircraft or flying car. The present invention increases the robustness of the aircraft or flying car, and can improve its stability during take-off and landing or flight.

Description

Technical Field

[0001] The present invention relates to the technical field of land-to-air mobile platforms, and in particular to an all-terrain take-off and landing control method and system for a land-to-air mobile platform. Background Art

[0002] Unmanned aerial vehicles have been widely used in recent years, especially flying cars combined with vehicles have become a hot topic of concern for the industry and scientific research institutions. In order to further improve the practicality of aircraft or flying cars, people have put forward higher requirements for the working environment of aircraft, hoping that they can be used in various complex terrains and complete stable takeoff and landing on roads in different conditions.

[0003] In order to solve the problem of aircraft or flying cars taking off and landing on complex terrains such as undulating roads and rugged mountains, the common solution in the industry is to equip them with landing gear or similar take-off and landing systems with active adjustment capabilities. During take-off and landing, the landing gear or lifting system obtains the current attitude of the aircraft through sensors, and adjusts the attitude of the aircraft to horizontal through the servo mechanism, and then takes off or lands. Patents "201710837646.9-New Aircraft and Aircraft System" and "201520818620.6-All-terrain Helicopter Landing Gear" both provide design solutions for this type of landing gear or take-off and landing system, which has active adjustment capabilities. The schematic diagram of the landing gear is as follows Figure 1 shown.

[0004] The disadvantages of the above design are as follows:

[0005] 1. The design of landing gear or take-off and landing system with active adjustment capability is complex, which will reduce the reliability of aircraft or flying cars.

[0006] 2. In order to ensure a good posture adjustment speed, the above solution needs to be equipped with an actuator with good performance, which is expensive to use.

[0007] 3. When in flight condition, the additional adjustment structure is ineffective mass for the aircraft or flying car and occupies its payload space. Summary of the invention

[0008] In view of the above-mentioned deficiencies in the prior art, the present invention provides an all-terrain take-off and landing control method and system for a land-to-air mobile platform to solve the above-mentioned problems.

[0009] In order to achieve the above-mentioned invention object, the technical solution adopted by the present invention is: a land-air mobile platform all-terrain take-off and landing control method, characterized in that it includes the following steps:

[0010] S1. Equivalent the land-air mobile platform to a state space model; the land-air mobile platform is an aircraft or a flying car;

[0011] S2. Design a system state observer based on the state space model and introduce state estimation error feedback to improve the accuracy of the system state observer;

[0012] S3. Based on the system state observer, the update law of system uncertainty estimation is obtained;

[0013] S4, the control law is obtained based on the update law of the system state observer and the system uncertainty estimate;

[0014] S5. All-terrain take-off and landing control of land-air mobile platforms is realized through system state observer, update law of uncertainty estimation and control law.

[0015] Further: the state space model in step S1 is specifically:

[0016]

[0017] In the above formula, x sr (t)∈R n is the measurable system state matrix, u sr (t)∈R is the control input, y sr (t)∈R is the system output, σ sr (t)∈R is the time domain system uncertainty, A m is the system matrix, b is the input matrix, x 0 is the initial state.

[0018] Further: the system state observer in step S2 is specifically:

[0019]

[0020] In the above formula, is the state error, is the state error feedback regulation law, k p >0,k d >0 are the corresponding PD controller tuning parameters, is the initial state estimate.

[0021] Further: the update law of the system uncertainty estimation in step S3 is:

[0022]

[0023] In the above formula, Λ∈R + is the adaptive gain, Proj is the projection operator, α and β are intermediate parameters, R = R T >0 is a Lyapunov algebraic equation S=S T>0, where S is any real unit matrix;

[0024] Further: the calculation formula of the intermediate parameters α and β is:

[0025]

[0026] In the above formula, m is the reference system gain.

[0027] Further: the control law in step S4 is specifically:

[0028]

[0029] In the above formula, u sr (s) is the all-terrain takeoff and landing control input, C sr (s) is a first-order low-pass filter, r(s) is the reference input, is an estimate of the system uncertainty.

[0030] Furthermore: the first-order low-pass filter C sr The DC gain of (s) is 1.

[0031] Further: the specific steps of step S5 are:

[0032] S51, quickly estimate the current attitude of the land-air mobile platform by actively adjusting the state observer under the tuning of the PID of the state estimation error feedback;

[0033] S52, the update law of system uncertainty estimation compares the result of the state estimator with the designed reference system and updates the difference between the two as the system uncertainty;

[0034] S53, actively adjusting the control gain based on the estimated value of system uncertainty through the control law, and generating a control signal to drive the power components of the land-air mobile platform;

[0035] S54. Through active adjustment of the land-air mobile platform, stable take-off and landing in complex terrain environments can be achieved.

[0036] An all-terrain take-off and landing control system for a land-air mobile platform, comprising a reference system, a PID active regulation state observer, a system uncertainty update law, and a reconfigurable controller;

[0037] The reference system is used to equate the land-air mobile platform to a state space model;

[0038] The PID active adjustment state observer is used to estimate the initial state during takeoff and landing according to the state space model;

[0039] The system uncertainty update law is obtained based on the estimation of the initial state during takeoff and landing;

[0040] The reconfigurable controller is used to actively adjust the control gain based on the uncertainty update law, and generate a control signal to drive the power components of the land-air mobile platform.

[0041] A land-to-air mobile platform, wherein the land-to-air mobile platform is an aircraft, and the aircraft includes a flight module, a cabin, and a landing gear; or the land-to-air mobile platform is a flying car, and the flying car includes a flight module, a cabin, and a chassis; the flight module includes an all-terrain take-off and landing control system of the land-to-air mobile platform.

[0042] The beneficial effects of the present invention are:

[0043] 1. The present invention does not add a complex design with active adjustment capability, thereby improving the robustness of the aircraft or flying car and being able to enhance its stability during take-off and landing or flight.

[0044] 2. The present invention does not need to be equipped with an additional actuator, and there is no additional use cost.

[0045] 3. The present invention does not require any additional mechanical mechanism or system, does not increase invalid mass, and ensures good load capacity. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 It is a schematic diagram of a landing gear with active adjustment capability in the background technology;

[0047] Figure 2 This is a control schematic diagram of the present invention. DETAILED DESCRIPTION

[0048] The specific implementation modes of the present invention are described below so that those skilled in the art can understand the present invention. However, it should be clear that the present invention is not limited to the scope of the specific implementation modes. For those of ordinary skill in the art, as long as various changes are within the spirit and scope of the present invention as defined and determined by the attached claims, these changes are obvious, and all inventions and creations utilizing the concept of the present invention are protected.

[0049] The all-terrain take-off and landing control system proposed by the present invention consists of four parts: a reference system designed based on the characteristics of an aircraft or a flying car, a PID (or proportional controller, PD controller) active adjustment state observer based on state estimation error feedback, a system uncertainty update law, and a reconfigurable controller based on system uncertainty estimation. The present invention is not only suitable for flying cars that need to take off and land frequently and frequently switch between land and air, but also suitable for ordinary vertical take-off and landing aircraft for all-terrain take-off and landing control.

[0050] like Figure 2 As shown, a method for controlling the take-off and landing of an all-terrain land-air mobile platform comprises the following steps:

[0051] S1. Equivalent the land-air mobile platform to a state space model; the land-air mobile platform is an aircraft or a flying car;

[0052]

[0053] In the above formula, x sr (t)∈R n is the measurable system state matrix, u sr (t)∈R is the control input, y sr (t)∈R is the system output, σ sr (t)∈R is the time domain system uncertainty, A m is the system matrix, b is the input matrix, x 0 is the initial state.

[0054] S2. Design a system state observer based on the state space model and introduce state estimation error feedback to improve the accuracy of the system state observer;

[0055] The system state observer in step S2 is specifically:

[0056]

[0057] In the above formula, is the state error, is the state error feedback regulation law, k p >0,k d >0 are the corresponding PD controller tuning parameters, is the initial state estimate.

[0058] S3. Based on the system state observer, the update law of system uncertainty estimation is given;

[0059] The update law for system uncertainty estimation is:

[0060]

[0061] In the above formula, Λ∈R + is the adaptive gain, Proj is the projection operator, α and β are intermediate parameters, R = R T >0 is a Lyapunov algebraic equation S=S T >0, where S is any real unit matrix;

[0062] α and β are intermediate parameters, and their calculation formula is:

[0063]

[0064] In the above formula, m is the reference system gain.

[0065] S4, the control law is obtained based on the update law of the system state observer and the system uncertainty estimate;

[0066] The control law is specifically:

[0067]

[0068] In the above formula, u sr (s) is the all-terrain takeoff and landing control input, C sr (s) is a first-order low-pass filter, r(s) is the reference input, is an estimate of the system uncertainty.

[0069] So far, we can get the control structure of unmanned aerial vehicles and flying cars suitable for stable takeoff and landing on undulating and complex roads:

[0070]

[0071] S5. All-terrain takeoff and landing control of an aircraft or flying car is achieved through a system state observer, an update law for uncertainty estimation, and a control law.

[0072] When the aircraft or flying car is ready to take off or land, the control system starts working. First, the active adjustment state observer quickly estimates the current aircraft attitude under the tuning of the PID of the state estimation error feedback; then, the system uncertainty update law compares the result of the state estimator with the designed reference system, and updates the difference between the two as the system uncertainty; the control law actively adjusts the control gain based on the system uncertainty estimate, and generates a control signal to drive the power components of the aircraft or flying car (such as click, servo, etc.), and finally completes the stable take-off and landing in a complex terrain environment through the active adjustment of the aircraft or flying car.

[0073] An all-terrain take-off and landing control system for a land-air mobile platform, comprising a reference system, a PID active regulation state observer, a system uncertainty update law, and a reconfigurable controller;

[0074] The reference system is used to equate the aircraft or flying car to a state space model;

[0075] The PID active adjustment state observer is used to estimate the initial state during takeoff and landing according to the state space model;

[0076] The system uncertainty update law is obtained based on the estimation of the initial state during takeoff and landing;

[0077] The reconfigurable controller is used to actively adjust the control gain based on the uncertainty update law, and generate a control signal to drive the power components of the aircraft or the flying car.

[0078] A land-to-air mobile platform, wherein the land-to-air mobile platform is an aircraft, and the aircraft includes a flight module, a cabin and a landing gear; or the land-to-air mobile platform is a flying car, and the flying car includes a flight module, a cabin and a chassis; the flight module includes an all-terrain take-off and landing control system of the land-to-air mobile platform.

[0079] The present invention does not require any additional mechanical mechanism or system, does not increase additional costs, and at the same time ensures a good load capacity of the aircraft or flying car.

[0080] The present invention increases the robustness of an aircraft or a flying car, and can improve its stability during take-off and landing or flight.

Claims

1. A method for controlling the take-off and landing of a land-air mobile platform in all terrains. It is characterized in that The following steps are involved: S1. Equivalent the land-air mobile platform to a state space model; the land-air mobile platform is an aircraft or a flying car; S2. Design a system state observer based on the state space model and introduce state estimation error feedback to improve the accuracy of the system state observer; S3. Based on the system state observer, the update law of system uncertainty estimation is obtained; S4, the control law is obtained based on the update law of the system state observer and the system uncertainty estimate; S5, realize the all-terrain take-off and landing control of the land-air mobile platform through the system state observer, the update law of uncertainty estimation and the control law; The state space model in step S1 is specifically: In the above formula, x sr (t)∈R n is the measurable system state matrix, u sr (t)∈R is the control input, y sr (t)∈R is the system output, σ sr (t)∈R is the time domain system uncertainty, A m is the system matrix, b is the input matrix, x 0 is the initial state; Wherein, the system state observer in step S2 is specifically: In the above formula, is the state error, is the state error feedback regulation law, k p >0,k d >0 are the corresponding PD controller tuning parameters, is the initial state estimate; The update law of the system uncertainty estimation in step S3 is: In the above formula, Λ∈R + is the adaptive gain, Proj is the projection operator, α and β are intermediate parameters, R = R T >0 is a Lyapunov algebraic equation S=S T >0, where S is any real unit matrix; The control law in step S4 is specifically: In the above formula, u sr (s) is the all-terrain takeoff and landing control input, C sr (s) is a first-order low-pass filter, r(s) is the reference input, is an estimate of the system uncertainty.

2. The all-terrain take-off and landing control method of the land-air mobile platform according to claim 1, It is characterized in that The calculation formulas of the intermediate parameters α and β are: In the above formula, m is the reference system gain.

3. The all-terrain take-off and landing control method of the land-air mobile platform according to claim 2, It is characterized in that The first-order low-pass filter C sr The DC gain of (s) is 1.

4. The all-terrain take-off and landing control method of the land-air mobile platform according to claim 1, It is characterized in that The specific steps of step S5 are: S51, quickly estimate the current attitude of the land-air mobile platform by actively adjusting the state observer under the tuning of the PID of the state estimation error feedback; S52, the update law of system uncertainty estimation compares the result of the state estimator with the designed reference system and updates the difference between the two as the system uncertainty; S53, actively adjusting the control gain based on the estimated value of system uncertainty through the control law, and generating a control signal to drive the power components of the land-air mobile platform; S54. Through active adjustment of the land-air mobile platform, stable take-off and landing in complex terrain environments can be achieved.

5. An all-terrain take-off and landing control system for a land-to-air mobile platform, using the all-terrain take-off and landing control method for a land-to-air mobile platform as claimed in claim 1, It is characterized in that It includes reference system, PID active regulation state observer, system uncertainty update law and reconfigurable controller; The reference system is used to equate the land-air mobile platform to a state space model; The PID active adjustment state observer is used to estimate the initial state during takeoff and landing according to the state space model; The system uncertainty update law is obtained based on the estimation of the initial state during takeoff and landing; The reconfigurable controller is used to actively adjust the control gain based on the uncertainty update law, and generate a control signal to drive the power components of the land-air mobile platform.

6. A land-air mobile platform, It is characterized in that The land-to-air mobile platform is an aircraft, which includes a flight module, a cabin and a landing gear; or the land-to-air mobile platform is a flying car, which includes a flight module, a cabin and a chassis; the flight module includes the control system as described in claim 5.

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