A pitch channel attitude control technology for aircraft based on adaptive differential filtering

Abstract

The present invention relates to an aircraft pitch channel attitude control technology based on adaptive differential filtering. The technology forms a pitch angle error and a pitch angle rate error signal by measuring the pitch angle and pitch angle rate signal of a UAV. Meanwhile, an adaptive filter differential method is proposed to respectively obtain the smoothed filter differential signal and the tangential differential signal of the pitch angle error and the pitch angle rate error. Meanwhile, the technology adaptively estimates the uncertain interference from five methods, namely, the pitch angle error signal, the pitch angle error filter signal, the pitch angle rate signal, the pitch angle error smoothed filter differential signal and the pitch angle rate error smoothed filter differential signal. Finally, a pitch channel comprehensive signal composed of the angle error, the angular rate error, the smoothed filter differential and the tangential differential thereof and the interference adaptive estimation signal is obtained, so as to realize the strong stability control of the attitude of the UAV pitch channel.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicle attitude control, and in particular to an aircraft pitch channel attitude control method based on adaptive differential filtering. Background Art

[0002] The pitch channels of large and medium-sized UAVs mostly use angle-sensitive gyroscopes and angular rate gyroscopes to measure the pitch angle and pitch rate feedback of the UAV, forming a PID control method for the attitude of the pitch channel. The formation of the differential signal in this control scheme is provided by the rate gyroscope, but the derivation of the desired signal and the differentiation of the error signal are difficult to achieve through measuring instruments. If the error of the general digital differential is too large, it will be counterproductive for the control strategy. Therefore, different differential calculation methods are of vital significance and role to the stable control of the UAV. Based on the above reasons, the present invention provides a method of adaptive differential filtering, which can solve two approximate differential signals of the pitch angle error and pitch rate error signal of the UAV, one is a filtered smooth differential signal, and the other is a tangent differential signal; the former has good physical meaning, and the latter has good geometric meaning, so they have their own roles in control, and finally form a UAV pitch channel attitude stabilization control method based on two adaptive filter differentials, realizing the strong stability control of the UAV pitch channel. Finally, the experiment also shows that the method is not only feasible, but also has good engineering practical value.

[0003] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present invention, and therefore may include information that does not constitute prior art known to ordinary technicians in the field. Summary of the invention

[0004] The purpose of the present invention is to provide an aircraft pitch channel attitude control technology based on adaptive differential filtering, thereby overcoming the problem of weak anti-interference ability of attitude control caused by limitations and defects of related technologies.

[0005] According to one aspect of the present invention, there is provided an aircraft pitch channel attitude control technology based on adaptive differential filtering, comprising the following steps:

[0006] Step S10, installing an attitude gyroscope to measure the pitch attitude angle of the UAV, setting the pitch angle expected signal and comparing it with the pitch attitude angle signal to obtain a pitch angle error signal; setting the pitch angle critical parameter and the first pitch angle smoothing parameter, solving the pitch angle adaptive filtering differential signal, and obtaining the pitch angle adaptive filtering parameter after integration; then solving the pitch angle error filtering signal and the pitch angle error smoothing filtering differential signal through a transfer function; setting the second pitch angle smoothing parameter and the third pitch angle smoothing parameter respectively, setting the initial value of the pitch angle tangential error signal, solving the tangential derivative of the pitch angle adaptive filtering parameter according to the pitch angle error signal and the pitch angle tangential error signal, obtaining the pitch angle adaptive filtering tangential parameter after integration, then solving the pitch angle error tangential differential signal, and obtaining the pitch angle tangential error signal through integration.

[0007] Step S20, installing a rate gyro to measure the pitch rate of the UAV, and comparing it with the derivative of the pitch angle expected signal to obtain a pitch rate error signal; then setting the pitch rate critical parameter and the first pitch rate smoothing parameter, solving to obtain a pitch rate adaptive filtering differential signal, and integrating to obtain the pitch rate adaptive filtering parameter; then solving the pitch rate error filtering signal and the pitch rate error smoothing filtering differential signal through a transfer function; respectively setting the second pitch rate smoothing parameter and the third pitch rate smoothing parameter, setting the initial value of the pitch rate tangential error signal, solving the tangential derivative of the pitch rate adaptive filtering parameter according to the pitch rate error signal and the pitch rate tangential error signal, obtaining the pitch rate adaptive filtering tangential parameter through integration, then solving the pitch rate error tangential differential signal, and obtaining the pitch rate tangential error signal through integration.

[0008] Step S30, according to the pitch angle error signal, the pitch angle adaptive filter differential signal, the pitch angle error filter signal, the pitch angle tangential error signal, and the tangential derivative of the pitch angle adaptive filter parameter, respectively solve the pitch angle error signal hinge integral signal, the pitch angle error filter hinge integral signal and the pitch angle tangential error hinge integral signal, and summarize them to obtain the pitch angle error comprehensive integral signal.

[0009] Step S40, generating an adaptive estimated dynamic surface signal according to the pitch angle error signal, the pitch angle rate signal, the pitch angle error tangential differential signal, and the pitch angle rate error tangential differential signal; then multiplying the pitch angle error signal, the pitch angle error filter signal, the pitch angle rate signal, the pitch angle error smoothing filter differential signal, and the pitch angle rate error smoothing filter differential signal respectively to obtain five adaptive parameter estimation laws; obtaining five adaptive parameters through integration, and then combining them to generate an uncertainty adaptive estimation signal.

[0010] Step S50, a pitch angle error comprehensive integral signal, a pitch angle error signal, a pitch angle error filter signal, a pitch angle tangential error signal, a pitch angle error tangential differential signal, a pitch angle rate error tangential differential signal, a pitch angle error smoothing filter differential signal, and a pitch angle rate error smoothing filter differential signal are superimposed on the uncertainty adaptive estimation signal to form a pitch channel comprehensive signal, which is then limited to form a UAV pitch channel control signal.

[0011] In an exemplary embodiment of the present invention, an attitude gyroscope is installed to measure the pitch attitude angle of the drone, a pitch angle expected signal is set and compared with the pitch attitude angle signal to obtain a pitch angle error signal; a pitch angle critical parameter and a first pitch angle smoothing parameter are set, a pitch angle adaptive filtering differential signal is solved, and the pitch angle adaptive filtering parameter is obtained after integration; then the pitch angle error filtering signal and the pitch angle error smoothing filtering differential signal are solved by a transfer function; the second pitch angle smoothing parameter and the third pitch angle smoothing parameter are set respectively, an initial value of the pitch angle tangential error signal is set, and the tangential derivative of the pitch angle adaptive filtering parameter is solved according to the pitch angle error signal and the pitch angle tangential error signal, and the pitch angle adaptive filtering tangential parameter is obtained after integration, and then the pitch angle error tangential differential signal is solved, and the pitch angle tangential error signal is obtained by integration, which includes:

[0012] e1=θ-θ d ;

[0013]

[0014]

[0015]

[0016]

[0017]

[0018]

[0019]

[0020] e3=∫d2dt;

[0021] Where θ is the pitch angle of the UAV measured by the attitude gyroscope, e1 is the pitch angle error signal, and θ d is the expected signal of pitch angle; k t1 , k t2 is a constant parameter, a1 is the pitch angle critical parameter, b1 is the first pitch angle smoothing parameter, T d1 is the pitch angle adaptive filtering differential signal, is the pitch angle adaptive filtering parameter; s is the differential operator of the transfer function; T0 and T2 are constant parameters of the transfer function; e2 is the pitch angle error filtering signal; d1 is the pitch angle error smoothing filtering differential signal; k t3 , k t4 , k t5 , k t6 is a constant parameter, b2 is the second pitch angle smoothing parameter, b3 is the third pitch angle smoothing parameter, and e3 is the pitch angle tangential error signal; T d2 is the tangential derivative of the pitch angle adaptive filtering parameter, is the tangential parameter of the pitch angle adaptive filter; T4 is a constant parameter; d2 is the tangential differential signal of the pitch angle error.

[0022] In an exemplary embodiment of the present invention, a rate gyroscope is installed to measure the pitch rate of the drone, and the pitch rate is compared with the derivative of the pitch angle expected signal to obtain a pitch rate error signal; then the pitch rate critical parameter and the first pitch rate smoothing parameter are set, and the pitch rate adaptive filtering differential signal is obtained by solving, and the pitch rate adaptive filtering parameter is obtained after integration; then the pitch rate error filtering signal and the pitch rate error smoothing filtering differential signal are solved by a transfer function; the second pitch rate smoothing parameter and the third pitch rate smoothing parameter are set respectively, and the initial value of the pitch rate tangential error signal is set, and the tangential derivative of the pitch rate adaptive filtering parameter is solved according to the pitch rate error signal and the pitch rate tangential error signal, and the pitch rate adaptive filtering tangential parameter is obtained after integration, and then the pitch rate error tangential differential signal is solved, and the pitch rate tangential error signal is obtained by integration.

[0023]

[0024]

[0025]

[0026]

[0027]

[0028]

[0029]

[0030] z3=∫d z2 dt;

[0031]

[0032] in is the derivative of the desired pitch angle signal, ω is the UAV pitch angle rate signal measured by the installed rate gyroscope, and z1 is the pitch angle rate error signal; k z1 , k z2 is a constant parameter, a2 is the pitch angle critical parameter, b4 is the first pitch angle rate smoothing parameter, T z1 is the pitch angle rate adaptive filtering differential signal, is the pitch angle rate adaptive filtering parameter; s is the differential operator of the transfer function; T w0 , T w2 is the constant parameter of the transfer function; z2 is the pitch angular rate error filtering signal; d z1 is the pitch angle rate error smoothing filter differential signal; k z3 , k z4 , k z5 , k z6 is a constant parameter, b5 is the second pitch angle rate smoothing parameter, b6 is the third pitch angle rate smoothing parameter, z3 is the pitch angle rate tangential error signal; T z2 is the tangential derivative of the pitch rate adaptive filter parameter, is the pitch angle rate adaptive filtering tangential parameter; T z4 is a constant parameter; d z2 is the tangential differential signal of the pitch angular rate error.

[0033] In an exemplary embodiment of the present invention, according to the pitch angle error signal, the pitch angle adaptive filter differential signal, the pitch angle error filter signal, the pitch angle tangential error signal, and the tangential derivative of the pitch angle adaptive filter parameter, the pitch angle error signal hinge integral signal, the pitch angle error filter hinge integral signal, and the pitch angle tangential error hinge integral signal are respectively solved, and the pitch angle error comprehensive integral signal is obtained by summing up, including:

[0034] s1=∫(c1e1+c2T d1 +c3e1T d1 )dt;

[0035] s2=∫(c4e2+c5T d1 +c6e2T d1 )dt;

[0036] s3=∫(c7e3+c8T d2 +c9e3T d2 )dt;

[0037] s a =s1+s2+s3;

[0038] Among them, c1, c2, c3, c4, c5, c6, c7, c8, c9 are constant parameters, s1 is the hinge integral signal of the pitch angle error signal, s2 is the hinge integral signal of the pitch angle error filter, s3 is the hinge integral signal of the pitch angle tangent error, s a It is the comprehensive integral signal of the pitch angle error.

[0039] In an exemplary embodiment of the present invention, an adaptive estimation dynamic surface signal is generated according to the pitch angle error signal, the pitch angle rate signal, the pitch angle error tangential differential signal, and the pitch angle rate error tangential differential signal; then the pitch angle error signal, the pitch angle error filter signal, the pitch angle rate signal, the pitch angle error smoothing filter differential signal, and the pitch angle rate error smoothing filter differential signal are multiplied respectively to obtain five adaptive parameter estimation laws; five adaptive parameters are obtained by integration, and then combined to generate an uncertainty adaptive estimation signal, including:

[0040] s b =ω+l1e1+l2d2+l3d z2 ;

[0041] c d1 =m1s b e1;

[0042]

[0043] c d2 =m2s b e2;

[0044]

[0045] c d3 =m3s b ω;

[0046]

[0047] c d4 =m4s b d1;

[0048]

[0049] c d5 =m5s b d z2 ;

[0050]

[0051]

[0052] Among them, l1, l2, l3 are constant parameters, s bTo adaptively estimate dynamic surface signals, c d1 、c d2 、c d3 、c d4 、c d5 are the adaptive parameter estimation laws for the first to fifth parameters, are the first to fifth adaptive parameters, respectively; m1, m2, m3, m4, m5 are the first to fifth parameter adaptive estimation speed adjustment parameters, respectively, which are constant values; Adaptively estimate the signal for uncertainty.

[0053] In an exemplary embodiment of the present invention, the pitch angle error integrated integral signal, the pitch angle error signal, the pitch angle error filter signal, the pitch angle tangential error signal, the pitch angle error tangential differential signal, the pitch angle rate error tangential differential signal, the pitch angle error smoothing filter differential signal, and the pitch angle rate error smoothing filter differential signal are superimposed on the uncertainty adaptive estimation signal to form a pitch channel integrated signal, and the UAV pitch channel control signal is formed after limiting;

[0054]

[0055]

[0056] where s a is the comprehensive integral signal of the pitch angle error, e1 is the pitch angle error signal, e2 is the pitch angle error filter signal; e3 is the pitch angle tangential error signal; d1 is the pitch angle error smoothing filter differential signal; d2 is the pitch angle error tangential differential signal; d z1 is the pitch angle rate error smoothing filter differential signal; d z2 is the tangential differential signal of the pitch angular rate error; u w is the comprehensive signal of the pitch channel, r1, r2, r3, r4, r5, r6, and r7 are constant parameters, c is the limit parameter of the UAV pitch rudder, and is a constant; u is the UAV pitch channel control signal, which is transmitted to the UAV pitch rudder system to realize the attitude control of the UAV pitch channel.

[0057] Beneficial Effects

[0058] The invention discloses an aircraft pitch channel attitude control technology based on adaptive differential filtering, and its main innovations are as follows: first, an adaptive filter differential method is proposed, which can derive two differential signals, adaptive smoothing filter differential and tangent differential, and solve the pitch angle error signal and pitch angle rate error signal of the unmanned aerial vehicle by smoothing filter differential and tangent differential. Second, the uncertain interference is adaptively estimated from five methods, namely, the pitch angle error signal, the pitch angle error filter signal, the pitch angle rate signal, the pitch angle error smoothing filter differential signal, and the pitch angle rate error smoothing filter differential signal, so as to realize the strong stability control of the attitude of the unmanned aerial vehicle, so that the whole control scheme has good anti-interference ability.

[0059] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] The accompanying drawings herein are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present invention, and together with the specification are used to explain the principles of the present invention. Obviously, the accompanying drawings described below are only some embodiments of the present invention, and for those of ordinary skill in the art, other accompanying drawings can be obtained based on these accompanying drawings without creative work.

[0061] Figure 1 It is a flow chart of a method for controlling the pitch channel attitude of an aircraft based on adaptive differential filtering provided by the present invention;

[0062] Figure 2 is a pitch angle signal curve of the UAV of the method provided in the embodiment of the present invention (unit: degree);

[0063] Figure 3 is a pitch angle rate signal curve of the drone according to the method provided in the embodiment of the present invention (unit: degrees per second);

[0064] Figure 4 is a tangential differential signal curve of the pitch angular rate error of the method provided in the embodiment of the present invention (unit: degree per square second);

[0065] Figure 5 is a UAV attack angle signal curve of the method provided in the embodiment of the present invention (unit: degree);

[0066] Figure 6 It is a pitch channel control signal curve of the UAV of the method provided in the embodiment of the present invention (unit: degree). DETAILED DESCRIPTION

[0067] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as being limited to the examples set forth herein; on the contrary, these embodiments are provided so that the present invention will be more comprehensive and complete, and the concept of the example embodiments will be fully conveyed to those skilled in the art. The described features, structures, or characteristics may be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present invention. However, those skilled in the art will appreciate that the technical solutions of the present invention may be practiced while omitting one or more of the specific details, or other methods, components, devices, steps, etc. may be adopted. In other cases, known technical solutions are not shown or described in detail to avoid blurring out various aspects of the present invention.

[0068] The present invention provides a method for forming a pitch angle error and a pitch angle rate error signal by measuring the pitch angle and pitch angle rate signal of a UAV, and proposes a method of adaptive filtering differentiation to obtain smoothing filtering differential signals and tangential differential signals of the pitch angle error and the pitch angle rate error respectively, and adaptively estimates uncertain interference from five methods including the pitch angle error signal, the pitch angle error filtering signal, the pitch angle rate signal, the pitch angle error smoothing filtering differential signal, and the pitch angle rate error smoothing filtering differential signal, and finally obtains a pitch channel comprehensive signal composed of the angle error, the angular rate error, the smoothing filtering differential and the tangential differential thereof, and the interference adaptive estimation signal, so as to realize strong stability control of the UAV pitch channel.

[0069] Next, the pitch channel attitude control technology of an aircraft based on adaptive differential filtering of the present invention will be further explained and illustrated in conjunction with the accompanying drawings. Figure 1 As shown, the aircraft pitch channel attitude control technology based on adaptive differential filtering can include the following steps:

[0070] Step S10, installing an attitude gyroscope to measure the pitch attitude angle of the UAV, setting the pitch angle expected signal and comparing it with the pitch attitude angle signal to obtain a pitch angle error signal; setting the pitch angle critical parameter and the first pitch angle smoothing parameter, solving the pitch angle adaptive filtering differential signal, and obtaining the pitch angle adaptive filtering parameter after integration; then solving the pitch angle error filtering signal and the pitch angle error smoothing filtering differential signal through a transfer function; setting the second pitch angle smoothing parameter and the third pitch angle smoothing parameter respectively, setting the initial value of the pitch angle tangential error signal, solving the tangential derivative of the pitch angle adaptive filtering parameter according to the pitch angle error signal and the pitch angle tangential error signal, obtaining the pitch angle adaptive filtering tangential parameter after integration, then solving the pitch angle error tangential differential signal, and obtaining the pitch angle tangential error signal through integration.

[0071] Specifically, it is divided into the following nine steps. The first step is to install the attitude gyroscope to measure the pitch attitude angle of the drone, recorded as θ.

[0072] The second step is to set the expected pitch angle signal according to the UAV flight mission, denoted as θ d , and compared with the pitch attitude angle signal, the pitch angle error signal is obtained as follows:

[0073] e1=θ-θ d ;

[0074] Where e1 is the pitch angle error signal.

[0075] The third step is to set the pitch angle critical parameter and the first pitch angle smoothing parameter, and solve the pitch angle adaptive filtering differential signal as follows:

[0076]

[0077] where k t1 , k t2 is a constant parameter, a1 is the pitch angle critical parameter, b1 is the first pitch angle smoothing parameter, T d1 It is the pitch angle adaptive filtered differential signal.

[0078] The fourth step is to integrate the pitch angle adaptive filter differential signal to obtain the pitch angle adaptive filter parameters as follows:

[0079]

[0080] in is the pitch angle adaptive filtering parameter.

[0081] The fifth step is to design the transfer function to solve the pitch angle error filter signal and the pitch angle error smoothing filter differential signal as follows:

[0082]

[0083]

[0084] Where s is the differential operator of the transfer function; T0 and T2 are constant parameters of the transfer function; e2 is the pitch angle error filter signal; and d1 is the pitch angle error smoothing filter differential signal.

[0085] The sixth step is to set the second smoothing parameter of the pitch angle and the third smoothing parameter of the pitch angle respectively, set the initial value of the pitch angle tangential error signal, and solve the tangential derivative of the pitch angle adaptive filtering parameter according to the pitch angle error signal and the pitch angle tangential error signal as follows:

[0086]

[0087] where k t3 , k t4 , k t5 , k t6 is a constant parameter, b2 is the second pitch angle smoothing parameter, b3 is the third pitch angle smoothing parameter, e3 is the pitch angle tangential error signal, and its initial value is selected as 0; T d2 is the tangential derivative of the pitch angle adaptive filtering parameters.

[0088] In the seventh step, the tangential derivative of the pitch angle adaptive filtering parameter is integrated to obtain the pitch angle adaptive filtering tangential parameter as follows:

[0089]

[0090] in is the tangential parameter of the pitch angle adaptive filter.

[0091] In the eighth step, the pitch angle error tangential differential signal is solved according to the pitch angle adaptive filtering tangential parameter as follows:

[0092]

[0093] Where T4 is a constant parameter; d2 is the tangential differential signal of the pitch angle error.

[0094] In the ninth step, the pitch angle tangential differential signal is integrated to obtain the pitch angle tangential error signal as follows:

[0095] e3=∫d2dt;

[0096] Where e3 is the pitch angle tangential error signal.

[0097] Step S20, installing a rate gyro to measure the pitch rate of the UAV, and comparing it with the derivative of the pitch angle expected signal to obtain a pitch rate error signal; then setting the pitch rate critical parameter and the first pitch rate smoothing parameter, solving to obtain a pitch rate adaptive filtering differential signal, and integrating to obtain the pitch rate adaptive filtering parameter; then solving the pitch rate error filtering signal and the pitch rate error smoothing filtering differential signal through a transfer function; respectively setting the second pitch rate smoothing parameter and the third pitch rate smoothing parameter, setting the initial value of the pitch rate tangential error signal, solving the tangential derivative of the pitch rate adaptive filtering parameter according to the pitch rate error signal and the pitch rate tangential error signal, obtaining the pitch rate adaptive filtering tangential parameter through integration, then solving the pitch rate error tangential differential signal, and obtaining the pitch rate tangential error signal through integration.

[0098] Specifically, it is divided into the following nine steps. The first step is to install a rate gyroscope to measure the pitch rate of the drone, denoted as ω.

[0099] In the second step, the pitch rate signal of the UAV is compared with the derivative of the pitch angle expected signal to obtain the pitch rate error signal as follows;

[0100]

[0101] in is the derivative of the desired pitch angle signal, and z1 is the pitch angle rate error signal.

[0102] The third step is to set the pitch angle rate critical parameter and the first pitch angle rate smoothing parameter, and solve the pitch angle rate adaptive filtering differential signal as follows:

[0103]

[0104] where k z1 , k z2 is a constant parameter, a2 is the pitch angle critical parameter, b4 is the first pitch angle rate smoothing parameter, T z1 It is the pitch angle rate adaptive filtering differential signal.

[0105] The fourth step is to integrate the pitch angular rate adaptive filter differential signal to obtain the pitch angular rate adaptive filter parameters as follows:

[0106]

[0107] in is the pitch angle rate adaptive filtering parameter.

[0108] The fifth step is to design the transfer function to solve the pitch angular rate error filter signal and the pitch angular rate error smoothing filter differential signal as follows:

[0109]

[0110]

[0111] Where s is the differential operator of the transfer function; T w0 , T w2 is the constant parameter of the transfer function; z2 is the pitch angular rate error filtering signal; d z1 It is the pitch angle rate error smoothing filtered differential signal.

[0112] The sixth step is to set the second smoothing parameter of the pitch angular rate and the third smoothing parameter of the pitch angular rate respectively, set the initial value of the pitch angular rate tangential error signal, and solve the tangential derivative of the pitch angular rate adaptive filtering parameters according to the pitch angular rate error signal and the pitch angular rate tangential error signal as follows:

[0113]

[0114] where k z3 , k z4 , k z5 , k z6 is a constant parameter, b5 is the second pitch rate smoothing parameter, b6 is the third pitch rate smoothing parameter, z3 is the pitch rate tangential error signal, and its initial value is 0, T z2 is the tangential derivative of the pitch rate adaptive filter parameter.

[0115] The seventh step is to solve the pitch angular rate adaptive filtering tangential parameters according to the tangential derivative of the pitch angular rate adaptive filtering parameters as follows:

[0116]

[0117] in is the tangential parameter of the pitch angular rate adaptive filter.

[0118] In the eighth step, the pitch angle rate error tangential differential signal is solved based on the pitch angle rate adaptive filtering tangential parameter as follows:

[0119]

[0120] T z4 is a constant parameter; d z2 is the tangential differential signal of the pitch angular rate error;

[0121] In the ninth step, the pitch angular rate error tangential differential signal is integrated to obtain the pitch angular rate tangential error signal as follows:

[0122] z3=∫d z2 dt;

[0123] Where z3 is the pitch angular rate tangential error signal.

[0124] Step S30, according to the pitch angle error signal, the pitch angle adaptive filtering differential signal, the pitch angle error filtering signal, the pitch angle tangential error signal, and the tangential derivative of the pitch angle adaptive filtering parameter, respectively solve the pitch angle error signal hinge integral signal, the pitch angle error filtering hinge integral signal, and the pitch angle tangential error hinge integral signal, and summarize to obtain the pitch angle error comprehensive integral signal as follows:

[0125] s1=∫(c1e1+c2T d1 +c3e1T d1 )dt;

[0126] s2=∫(c4e2+c5T d1 +c6e2T d1 )dt;

[0127] s3=∫(c7e3+c8T d2 +c9e3T d2 )dt;

[0128] s a =s1+s2+s3;

[0129] Among them, c1, c2, c3, c4, c5, c6, c7, c8, c9 are constant parameters, s1 is the hinge integral signal of the pitch angle error signal, s2 is the hinge integral signal of the pitch angle error filter, s3 is the hinge integral signal of the pitch angle tangent error, s a It is the comprehensive integral signal of the pitch angle error.

[0130] Step S40, generating an adaptive estimated dynamic surface signal according to the pitch angle error signal, the pitch angle rate signal, the pitch angle error tangential differential signal, and the pitch angle rate error tangential differential signal; then multiplying the pitch angle error signal, the pitch angle error filter signal, the pitch angle rate signal, the pitch angle error smoothing filter differential signal, and the pitch angle rate error smoothing filter differential signal respectively to obtain five adaptive parameter estimation laws; obtaining five adaptive parameters through integration, and then combining them to generate an uncertainty adaptive estimation signal.

[0131] Specifically, the pitch angle error signal, the pitch angle rate signal, the pitch angle error tangential differential signal, and the pitch angle rate error tangential differential signal are first used to generate an adaptive estimated dynamic surface signal as follows:

[0132] s b =ω+l1e1+l2d2+l3d z2 ;

[0133] Among them, l1, l2, l3 are constant parameters, s b For adaptive estimation of dynamic surface signals.

[0134] Secondly, according to the adaptive estimation dynamic surface signal, the pitch angle error signal, the pitch angle error filter signal, the pitch angle rate signal, the pitch angle error smoothing filter differential signal, and the pitch angle rate error smoothing filter differential signal are respectively multiplied to obtain five adaptive parameter estimation laws as follows:

[0135] c d1 =m1s b e1;

[0136] c d2 =m2s b e2;

[0137] c d3 =m3s b ω;

[0138] c d4 =m4s b d1;

[0139] c d5 =m5s b d z2 ;

[0140] where c d1 、c d2 、c d3 、c d4 、c d5 are the adaptive parameter estimation laws for the first to fifth parameters, m1, m2, m3, m4, and m5 are the adaptive estimation speed adjustment parameters for the first to fifth parameters, which are constant values.

[0141] Again, the adaptive parameter estimation laws of the first to fifth parameters are integrated to obtain five adaptive parameters as follows:

[0142]

[0143]

[0144]

[0145]

[0146]

[0147] in They are the first to fifth adaptive parameters respectively.

[0148] Finally, according to the first to fifth adaptive parameters, the uncertainty adaptive estimation signal is obtained as follows:

[0149]

[0150] Adaptively estimate the signal for uncertainty.

[0151] Step S50, according to the uncertainty adaptive estimation signal, the pitch angle error comprehensive integral signal, the pitch angle error signal, the pitch angle error filter signal, the pitch angle tangential error signal, the pitch angle error tangential differential signal, the pitch angle rate error tangential differential signal, the pitch angle error smoothing filter differential signal, and the pitch angle rate error smoothing filter differential signal are superimposed to form a pitch channel comprehensive signal, and the UAV pitch channel control signal is formed after limiting, which includes:

[0152]

[0153]

[0154] s a is the comprehensive integral signal of the pitch angle error, e1 is the pitch angle error signal, e2 is the pitch angle error filter signal; e3 is the pitch angle tangential error signal; d1 is the pitch angle error smoothing filter differential signal; d2 is the pitch angle error tangential differential signal; d z1 is the pitch angle rate error smoothing filter differential signal; d z2 is the tangential differential signal of the pitch angular rate error; u w is the comprehensive signal of the pitch channel, r1, r2, r3, r4, r5, r6, and r7 are constant parameters, c is the limit parameter of the UAV pitch rudder, and is a constant; u is the UAV pitch channel control signal, which is transmitted to the UAV pitch rudder system to realize the attitude control of the UAV pitch channel.

[0155] Case implementation and computer simulation results analysis

[0156] In step S10, the pitch angle expected signal θ is set according to the UAV flight mission. d is minus 5 degrees. Select parameter k t1 =0.2, k t2 =0.4, a1=0.16, b1=0.2, T0=0.01, T2=0.003

[0157] , k t3 =0.2, k t4 =0.3, k t5 =0.5, k t6 =0.7, b3=0.25.

[0158] In step S20, the parameter k is selected z1 =0.2, k z2 =0.7, a2=0.2, b4=0.3, T w0 =0.002, T w2 =0.001, k z3 =0.4, k z4 =0.6, k z5=0.2, k z6 =0.8b5=0.3b6=0.18.

[0159] In step S30, c1=0.3, c2=0.4, c3=0.3, c4=0.2, c5=0.5, c6=0.3, c7=0.5, c8=0.3, c9=0.2 are selected.

[0160] In step S40, parameters l1=2.3, l2=0.3, l3=0.2, m1=0.001, m2=0.002, m3=0.001, m4=0.001, and m5=0.002 are selected.

[0161] In step S50, r1=2.5, r2=0.3, r3=0.2, r4=0.2, r5=0.1, r6=0.03, r7=0.03, and c=0.5 are selected.

[0162] Finally, the pitch angle signal of the drone is obtained as follows Figure 2 As shown, it finally stabilized at minus 5 degrees; the pitch rate signal of the drone is as follows Figure 3 As shown, it returns to about 0 when it finally recovers stability, and the maximum value is less than 0.5 during the initial rotation; the tangential differential signal of the pitch angular rate error is as follows Figure 4 As shown in the figure, it can be seen that the signal is large in the initial stage, which can be controlled to provide a large signal. A small oscillation occurs at the end. This is a normal response caused by high-order differentials. The oscillation amplitude is small and can be accepted by the control system. The UAV angle of attack signal is as follows: Figure 5 As shown, it can be seen that the maximum angle of attack is less than 2 degrees; the UAV pitch channel control signal is as follows Figure 6 As shown, the maximum value is less than 17 degrees, and the angle of attack and the final control signal do not exceed the system limit. From the test results and the curve, the method provided by the present invention is completely effective and feasible.

Claims

1. A method for controlling the pitch channel attitude of an aircraft based on adaptive differential filtering, characterized by the following steps: Step S10, installing an attitude gyroscope to measure the pitch attitude angle of the drone, setting the pitch angle expected signal and comparing it with the pitch attitude angle signal to obtain a pitch angle error signal; setting the pitch angle critical parameter and the first pitch angle smoothing parameter, solving the pitch angle adaptive filtering differential signal, and obtaining the pitch angle adaptive filtering parameter after integration; then solving the pitch angle error filtering signal and the pitch angle error smoothing filtering differential signal through a transfer function; respectively setting the second pitch angle smoothing parameter and the third pitch angle smoothing parameter, setting the initial value of the pitch angle tangential error signal, solving the tangential derivative of the pitch angle adaptive filtering parameter according to the pitch angle error signal and the pitch angle tangential error signal, obtaining the pitch angle adaptive filtering tangential parameter after integration, then solving the pitch angle error tangential differential signal, and obtaining the pitch angle tangential error signal through integration, including: e3=∫d2dt; in is the pitch attitude angle of the UAV measured by the attitude gyroscope, e1 is the pitch angle error signal, is the expected signal of pitch angle; k t1 , k t2 is a constant parameter, a1 is the pitch angle critical parameter, b1 is the first pitch angle smoothing parameter, T d1 is the pitch angle adaptive filtering differential signal, is the pitch angle adaptive filtering parameter; s is the differential operator of the transfer function; T0 and T2 are constant parameters of the transfer function; e2 is the pitch angle error filtering signal; d1 is the pitch angle error smoothing filtering differential signal; k t3 , k t4 , k t5 , k t6 is a constant parameter, b2 is the second pitch angle smoothing parameter, b3 is the third pitch angle smoothing parameter, and e3 is the pitch angle tangential error signal; T d2 is the tangential derivative of the pitch angle adaptive filtering parameter, is the pitch angle adaptive filtering tangential parameter; T4 is a constant parameter; d2 is the pitch angle error tangential differential signal; Step S20, installing a rate gyro to measure the pitch rate of the drone, and comparing it with the derivative of the pitch angle expected signal to obtain a pitch rate error signal; then setting the pitch rate critical parameter and the first pitch rate smoothing parameter, solving to obtain a pitch rate adaptive filtering differential signal, integrating to obtain the pitch rate adaptive filtering parameter; then solving the pitch rate error filtering signal and the pitch rate error smoothing filtering differential signal through a transfer function; respectively setting the second pitch rate smoothing parameter and the third pitch rate smoothing parameter, setting the initial value of the pitch rate tangential error signal, solving the tangential derivative of the pitch rate adaptive filtering parameter according to the pitch rate error signal and the pitch rate tangential error signal, obtaining the pitch rate adaptive filtering tangential parameter through integration, then solving the pitch rate error tangential differential signal, and obtaining the pitch rate tangential error signal through integration, including: z3=∫d z2 dt; in is the derivative of the desired pitch angle signal, ω is the UAV pitch angle rate signal measured by the installed rate gyroscope, and z1 is the pitch angle rate error signal; k z1 , k z2 is a constant parameter, a2 is the pitch angle critical parameter, b4 is the first pitch angle rate smoothing parameter, T z1 is the pitch angle rate adaptive filtering differential signal, is the pitch angle rate adaptive filtering parameter; s is the differential operator of the transfer function; T w0 、T w2 is the constant parameter of the transfer function; z2 is the pitch angular rate error filtering signal; d z1 is the pitch angle rate error smoothing filter differential signal; k z3 , k z4 , k z5 , k z6 is a constant parameter, b5 is the second pitch angle rate smoothing parameter, b6 is the third pitch angle rate smoothing parameter, z3 is the pitch angle rate tangential error signal; T z2 is the tangential derivative of the pitch rate adaptive filter parameter, is the pitch angle rate adaptive filtering tangential parameter; T z4 is a constant parameter; d z2 is the tangential differential signal of the pitch angular rate error; Step S30, according to the pitch angle error signal, the pitch angle adaptive filtering differential signal, the pitch angle error filtering signal, the pitch angle tangential error signal, and the tangential derivative of the pitch angle adaptive filtering parameter, respectively solve the pitch angle error signal hinge integral signal, the pitch angle error filtering hinge integral signal, and the pitch angle tangential error hinge integral signal, and summarize to obtain the pitch angle error comprehensive integral signal including: s1=∫(c1e1+c2T d1 +c3e1T d1 )dt; <h2 style=";text-align:left;direction:ltr">s2 = ∫(c4e2+c5T<h2 style=";text-align:left;direction:ltr"> d1 <h2 style=";text-align:left;direction:ltr"> +c6e2T<h2 style=";text-align:left;direction:ltr"> d1 <h2 style=";text-align:left;direction:ltr"> )dt; <h2 style=";text-align:left;direction:ltr">s3 = ∫(c7e3+c8T<h2 style=";text-align:left;direction:ltr"> d2 <h2 style=";text-align:left;direction:ltr"> +c9e3T<h2 style=";text-align:left;direction:ltr"> d2 <h2 style=";text-align:left;direction:ltr"> )dt; <h2 style=";text-align:left;direction:ltr">s<h2 style=";text-align:left;direction:ltr"> a <h2 style=";text-align:left;direction:ltr"> (s1+s2+s3) Among them, c1, c2, c3, c4, c5, c6, c7, c8, c9 are constant parameters, s1 is the hinge integral signal of the pitch angle error signal, s2 is the hinge integral signal of the pitch angle error filter, s3 is the hinge integral signal of the pitch angle tangent error, s a is the comprehensive integral signal of the pitch angle error; Step S40, generating an adaptive estimation dynamic surface signal according to the pitch angle error signal, the pitch angle rate signal, the pitch angle error tangential differential signal, and the pitch angle rate error tangential differential signal; then multiplying the pitch angle error signal, the pitch angle error filter signal, the pitch angle rate signal, the pitch angle error smoothing filter differential signal, and the pitch angle rate error smoothing filter differential signal respectively to obtain five adaptive parameter estimation laws; five adaptive parameters are obtained by integration, and then combined to generate an uncertainty adaptive estimation signal, and then the pitch angle error comprehensive integral signal, the pitch angle error signal, the pitch angle error filter signal, the pitch angle tangential error signal, the pitch angle error tangential differential signal, the pitch angle rate error tangential differential signal, the pitch angle error smoothing filter differential signal, and the pitch angle rate error smoothing filter differential signal are superimposed to form a pitch channel comprehensive signal, and the UAV pitch channel control signal is formed after limiting, which includes: s b =ω+l1e1+l2d2+l3d z2 ; c d1 =m1s b e1; c d2 =m2s b e2; c d3 =m3s b ω; c d4 =m4s b d1; c d5 =m5s b d z2 ; Among them, l1, l2, l3 are constant parameters, s b To adaptively estimate dynamic surface signals, c d1 、c d2 、c d3 、c d4 、c d5 are the adaptive parameter estimation laws for the first to fifth parameters, are the first to fifth adaptive parameters, respectively; m1, m2, m3, m4, m5 are the first to fifth parameter adaptive estimation speed adjustment parameters, respectively, which are constant values; is the uncertainty adaptive estimation signal; s a is the comprehensive integral signal of the pitch angle error, e1 is the pitch angle error signal, e2 is the pitch angle error filter signal; e3 is the pitch angle tangential error signal; d1 is the pitch angle error smoothing filter differential signal; d2 is the pitch angle error tangential differential signal; d z1 is the pitch angle rate error smoothing filter differential signal; d z2 is the tangential differential signal of the pitch angular rate error; u w is the comprehensive signal of the pitch channel, r1, r2, r3, r4, r5, r6, and r7 are constant parameters, c is the limit parameter of the UAV pitch rudder, and is a constant; u is the UAV pitch channel control signal, which is transmitted to the UAV pitch rudder system to realize the attitude control of the UAV pitch channel.

Images