Tracking control method, system, terminal and medium based on unmanned helicopter

Abstract

The present application is applicable to the technical field of predictive tracking, and provides a tracking control method, system, terminal and medium based on an unmanned helicopter, wherein the method includes first obtaining the yaw channel angular velocity information and the altitude channel velocity information of the target helicopter, then generating the yaw channel angular velocity loop control law information and the altitude channel velocity loop control law information, then obtaining the first motion state information of the target helicopter and the second motion state information of the target interception object, then generating the expected position information and further generating the planning instructions, and finally using the planning instructions to accurately control the target helicopter to perform the air interception target task. The present application can significantly reduce the convergence time of the control system, and compensate for unknown nonlinear models and disturbances through the control filter of the high-order differential feedback controller, so as to achieve the purpose of high-precision control, improve the anti-interference ability of the control system, and realize the precise interception of high-maneuverable targets while ensuring efficiency.

Description

Technical Field

[0001] The present application relates to the technical field of predictive tracking, and in particular, to a tracking control method, system, terminal and medium thereof based on an unmanned helicopter. Background Art

[0002] At present, traditional interception guidance methods, such as Ideal Proportional Navigation (IPN) and Pure Proportional Navigation (PPN), have good performance against fixed small aerial targets. However, they have poor guidance effects on highly maneuverable targets with variable acceleration, long interception time, inability to effectively constrain targets, and insufficient smoothness of interception trajectories. They have low reliability and need further improvement. Summary of the invention

[0003] Based on this, the embodiments of the present application provide a tracking control method, system, terminal and medium based on an unmanned helicopter to solve the problem of low reliability in the prior art.

[0004] In a first aspect, an embodiment of the present application provides a tracking control method based on an unmanned helicopter, the method comprising:

[0005] Obtain the yaw channel angular velocity information and altitude channel velocity information of the target helicopter;

[0006] Based on the yaw channel angular velocity information, generating yaw channel angular velocity loop control law information, and based on the altitude channel velocity information, generating altitude channel velocity loop control law information;

[0007] Acquiring first motion state information of the target helicopter and second motion state information of the target interception object;

[0008] generating expected position information of the target helicopter based on the first motion state information and the second motion state information;

[0009] Generate a planned instruction according to the yaw channel angular velocity loop control law information, the altitude channel velocity loop control law information and the desired position information;

[0010] Based on the instructions obtained from the plan, the target helicopter is controlled, wherein the instructions obtained from the plan are used to instruct the target helicopter to perform an aerial interception target mission.

[0011] Compared with the prior art, the beneficial effect is as follows: the tracking and control method based on the unmanned helicopter provided in the embodiment of the present application, the terminal device can first obtain the yaw channel angular velocity information and the altitude channel velocity information of the target helicopter, and then use the yaw channel angular velocity information to effectively generate the yaw channel angular velocity loop control law information, and at the same time use the altitude channel velocity information to effectively generate the altitude channel velocity loop control law information, and then obtain the first motion state information of the target helicopter and the second motion state information of the target interception object, and then further generate the expected position information of the target helicopter, and then generate effective planned instructions based on the yaw channel angular velocity loop control law information, the altitude channel velocity loop control law information and the expected position information, and finally based on the planned instructions, accurately control the target helicopter to perform the air interception target task, thereby deeply optimizing the interception trajectory of the target helicopter, significantly improving the reliability, and to a certain extent solving the current low reliability problem.

[0012] In a second aspect, an embodiment of the present application provides a tracking control system based on an unmanned helicopter, the system comprising:

[0013] Yaw channel angle information acquisition module: used to obtain the yaw channel angular velocity information and altitude channel velocity information of the target helicopter;

[0014] A control law information generating module is used to generate the yaw channel angular velocity loop control law information based on the yaw channel angular velocity information, and to generate the altitude channel velocity loop control law information based on the altitude channel velocity information;

[0015] A motion state information acquisition module: used to acquire the first motion state information of the target helicopter and the second motion state information of the target interception object;

[0016] An expected position information generating module: used for generating the expected position information of the target helicopter based on the first motion state information and the second motion state information;

[0017] A planned instruction generation module is used to generate a planned instruction according to the yaw channel angular velocity loop control law information, the altitude channel velocity loop control law information and the expected position information;

[0018] Target helicopter control module: used to control the target helicopter based on the instructions obtained from the plan, wherein the instructions obtained from the plan are used to instruct the target helicopter to perform an aerial interception target mission.

[0019] In a third aspect, an embodiment of the present application provides a terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method of the first aspect described above when executing the computer program.

[0020] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method of the first aspect described above are implemented.

[0021] It can be understood that the beneficial effects of the second to fourth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below.

[0023] Figure 1 is a flow chart of a tracking control method provided by an embodiment of the present application;

[0024] Figure 2 It is a flowchart before step S100 in the tracking control method provided in one embodiment of the present application;

[0025] Figure 3 is a schematic diagram of the main rotor thrust of a target helicopter provided by an embodiment of the present application;

[0026] Figure 4 (a) is a first schematic diagram of the flapping angle of the target helicopter when flying forward provided by an embodiment of the present application, Figure 4 (b) is a second schematic diagram of the flapping angle of the target helicopter when flying forward provided by an embodiment of the present application;

[0027] Figure 5 is a schematic diagram of the distance between the tail rotor and the center of gravity of a target helicopter provided in one embodiment of the present application;

[0028] Figure 6 is a flowchart of step S200 in the tracking control method provided in one embodiment of the present application;

[0029] Figure 7 is a flow chart of step S240 in the tracking control method provided in one embodiment of the present application;

[0030] Figure 8 is a flowchart of step S400 in the tracking control method provided in one embodiment of the present application;

[0031] Fig. 9It is a schematic diagram of the flow chart before step S500 in the tracking control method provided in one embodiment of the present application;

[0032] Fig.10 is a first schematic diagram of trajectory tracking control simulation experiment results provided by an embodiment of the present application;

[0033] Fig.11 is a second schematic diagram of a trajectory tracking control simulation experiment result provided by an embodiment of the present application;

[0034] Fig.12 It is a module block diagram of a tracking control system provided by an embodiment of the present application;

[0035] Fig.13 It is a schematic diagram of a terminal device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0036] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0037] In the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0038] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0039] In order to illustrate the technical solution described in this application, a specific embodiment is provided below for illustration.

[0040] See also Figure 1 , Figure 1: is a flow chart of the tracking control method based on the unmanned helicopter provided in the embodiment of the present application. In the present embodiment, the execution subject of the tracking control method is a terminal device. It is understandable that the types of terminal devices include but are not limited to mobile phones, tablet computers, laptop computers, ultra-mobile personal computers (Ultra-Mobile Personal Computer, UMPC), netbooks, personal digital assistants (Personal Digital Assistant, PDA), etc., and the embodiment of the present application does not impose any restrictions on the specific types of terminal devices.

[0041] See also Figure 1 The tracking control method provided in the embodiment of the present application includes but is not limited to the following steps:

[0042] In S100, the yaw channel angular velocity information and altitude channel velocity information of the target helicopter are obtained.

[0043] Specifically, the terminal device can first obtain the yaw channel angular velocity information and altitude channel velocity information of the target helicopter, wherein the target helicopter can be a small unmanned helicopter; the yaw channel angular velocity information is used to describe the angular velocity corresponding to the yaw channel of the target helicopter; the altitude channel velocity information is used to describe the velocity corresponding to the altitude channel of the target helicopter.

[0044] In some possible implementations, since tracking the target helicopter requires controlling the two flapping angles of the main rotor (i.e., the longitudinal flapping angle and the lateral flapping angle), in order to achieve more precise control of the target helicopter and facilitate accurate interception, please refer to Figure 2 Before step S100, the method further includes but is not limited to the following steps:

[0045] In S101, a rigid body dynamics model and a fuselage dynamics model of the target helicopter are obtained.

[0046] Specifically, the terminal device may first obtain a rigid body dynamics model and a fuselage dynamics model of the target helicopter; wherein both the rigid body dynamics model and the fuselage dynamics model may be expressed in the form of Newton-Euler equations; illustratively, the rigid body dynamics model may be:

[0047] ,

[0048] In the formula, Represents the acceleration vector information of the target helicopter in the preset body coordinate system; Represents the angular velocity vector information of the target helicopter in the body coordinate system; Represents the velocity vector information of the target helicopter in the body coordinate system; It represents the resultant force information of the target helicopter, that is, the resultant force on the target helicopter. ; It is the projection of the target helicopter's gravity in the body coordinate system. It should be noted that the target helicopter will be affected by the main rotor pull, air resistance and gravity, and represents gravity, so It can represent the combined force of the main rotor thrust and air resistance.

[0049] In the formula, is the fuselage of the target helicopter along the body coordinate system The resistance generated by the shaft, is the fuselage of the target helicopter along the body coordinate system The resistance generated by the shaft, is the fuselage of the target helicopter along the body coordinate system The resistance created by the shaft; Indicates the mass of the target helicopter.

[0050] In the formula, Represents the angular acceleration vector information of the target helicopter in the body coordinate system; Represents the inertial matrix information of the target helicopter, ,in, are the inertia matrix components in three different directions; Represents the torque vector information of the target helicopter, that is, the torque vector acting on the target helicopter. It should be noted that the torque vector information may be only the torque provided by the main rotor.

[0051] Exemplarily, the fuselage dynamics model may be a model constructed by the air resistance experienced by the fuselage. The fuselage dynamics model may be:

[0052] ,

[0053] In the formula, Represents the target helicopter's fuselage along the body coordinate system The resistance created by the shaft; Represents the target helicopter's fuselage along the body coordinate system The resistance created by the shaft; Represents the target helicopter's fuselage along the body coordinate system The resistance of the shaft.

[0054] In the formula, Represents the body coordinate system The relative airspeed corresponding to the axis; Represents the body coordinate system The relative airspeed corresponding to the axis; Represents the body coordinate system The relative airspeed corresponding to the axis; Indicates air density information; Represents the fuselage along the body coordinate system The effective resistance area corresponding to the axis; Represents the fuselage along the body coordinate system The effective resistance area corresponding to the axis; Represents the fuselage along the body coordinate system The effective resistance area corresponding to the axis; represents the induction speed; It represents the resultant velocity of the aerodynamic center of the fuselage.

[0055] In a possible implementation, the combined velocity of the aerodynamic center of the fuselage may be:

[0056] ,

[0057] It should be noted that since the torque of aerodynamic drag is often generated by the longitudinal asymmetry of the fuselage, and the fuselage design of small unmanned helicopters usually has strong longitudinal symmetry, the torque generated by aerodynamic drag can be ignored.

[0058] In S102, based on the rigid body dynamics model, component set information corresponding to the main rotor dynamics model of the target helicopter is determined to control the longitudinal flapping angle and the lateral flapping angle of the target helicopter.

[0059] Specifically, after the terminal device obtains the rigid body dynamics model and the fuselage dynamics model, the terminal device can effectively determine the component set information corresponding to the main rotor dynamics model of the target helicopter based on the rigid body dynamics model, thereby realizing precise control of the longitudinal flapping angle and the lateral flapping angle of the target helicopter; wherein the component set information includes tension component information and torque component information, and the tension component information can be:

[0060] ,

[0061] In the formula, Indicates the pull component information corresponding to the X-axis of the main rotor dynamics model on the body coordinate system. The X-axis of the body coordinate system is The axis is the same axis; for example, see Figure 3 , represents the thrust generated by the main rotor of the target helicopter; for example, see Figure 4 (a) and Figure 4 (b) in the above equation, Indicates the longitudinal flapping angle information corresponding to the main rotor, Indicates the lateral flapping angle information corresponding to the main rotor; Indicates the pull component information corresponding to the Y axis of the main rotor dynamics model on the body coordinate system. The Y axis of the body coordinate system is The axis is the same axis; Indicates the pull component information corresponding to the Z axis of the main rotor dynamics model on the body coordinate system. The Z axis of the body coordinate system is The axis is the same axis.

[0062] It should be noted that Figure 4 in ” indicates the azimuth of the helicopter; Figure 4 (a) is used to show the main rotor of the target helicopter from the right view. Figure 4 (b) is used to show the main rotor of the target helicopter from a front view angle, so Figure 4 (a) and Figure 4 (b) in the figure is used to objectively illustrate the longitudinal flapping angle of the main rotor. and lateral swing angle Due to the length of the main rotor and the lift, the blades will have an angle of The inverted vertebra Figure 4 in ” indicates the angle of the inverted vertebra.

[0063] Exemplarily, the above torque component information may be:

[0064] ,

[0065] In the formula, Indicates the torque component information corresponding to the main rotor on the roll axis; for example, see Figure 5 , Indicates the vertical distance between the main rotor hub and the center of gravity of the target helicopter. It should be noted that: Figure 5 in " represents the horizontal distance between the tail rotor hub and the center of gravity of the target helicopter. Figure 5 in ” represents the vertical distance between the tail rotor hub and the center of gravity of the target helicopter; Indicates the elastic coefficient information of the main rotor; Represents the first-order derivative corresponding to the moment component information on the roll axis; Indicates the time constant information of the main rotor; Indicates the roll angular velocity information of the main rotor; is the pitch angular velocity information of the target helicopter.

[0066] In the formula, Indicates the torque component information corresponding to the main rotor on the pitch axis; Represents the first-order derivative corresponding to the moment component information on the pitch axis; Indicates the torque component information corresponding to the main rotor on the yaw axis; Indicates air density information; Indicates the rotation speed information of the main rotor; Indicates the radius information of the main rotor; Indicates the number of blades of the main rotor; Indicates the chord length information of the main rotor; Indicates the solidity information of the main rotor; Indicates the torque coefficient information of the main rotor.

[0067] In a possible implementation, the torque coefficient information may be:

[0068] ,

[0069] In the formula, Indicates the thrust coefficient information of the main rotor; Indicates the blade drag coefficient information of the main rotor.

[0070] It should be noted that the purpose of the terminal device determining the tension component information and the torque component information is to control the two flapping angles of the main rotor of the unmanned helicopter, namely the longitudinal flapping angle and the lateral flapping angle, in the subsequent process of controlling the unmanned helicopter to track the target.

[0071] In S200 , yaw channel angular velocity loop control law information is generated based on the yaw channel angular velocity information, and altitude channel velocity loop control law information is generated based on the altitude channel velocity information.

[0072] Specifically, after the terminal device obtains the yaw channel angular velocity information and altitude channel velocity information of the target helicopter, the terminal device can effectively generate the yaw channel angular velocity loop control law information based on the yaw channel angular velocity information, and at the same time effectively generate the altitude channel velocity loop control law information based on the altitude channel velocity information, thereby facilitating the attitude control of each channel of the target helicopter.

[0073] In some possible implementations, the yaw channel angular velocity information includes reference yaw angular velocity information and actual yaw angular velocity information; in order to further achieve accurate tracking of the target helicopter, please refer to Figure 6 Step S200 includes but is not limited to the following steps:

[0074] In S210, reference angular velocity extended state vector information and actual yaw angular velocity extended state estimation vector information are acquired.

[0075] Specifically, after the terminal device generates the pole configuration control law information, the terminal device can effectively generate reference angular velocity expansion state vector information and actual yaw angular velocity expansion state estimation vector information based on the pole configuration control law information; wherein, the reference angular velocity expansion state vector information is used to describe the reference angular velocity expansion state vector of the yaw channel angular velocity loop, and the actual yaw angular velocity expansion state estimation vector information is used to describe the actual yaw angular velocity expansion state estimation vector of the yaw channel angular velocity loop.

[0076] Exemplarily, the reference angular velocity expansion state vector information may be:

[0077] ,

[0078] In the formula, Represents the reference angular velocity expansion state vector information; Indicates the reference yaw rate information of the target helicopter; Indicates the reference yaw angle acceleration information of the target helicopter;

[0079] Exemplarily, the actual yaw rate extended state estimation vector information may be:

[0080] ,

[0081] In the formula, Represents the actual yaw angular velocity extended state estimation vector information; Indicates the actual yaw rate information of the target helicopter; Indicates the actual yaw acceleration information of the target helicopter.

[0082] It should be noted that and It can be used as a component of a subsequent angular velocity controller, that is, in a yaw angular velocity controller.

[0083] In S220, yaw channel angular velocity loop error extended vector information is generated according to the reference angular velocity extended state vector information and the actual yaw angular velocity extended state estimation vector information.

[0084] Specifically, after the terminal device generates the reference angular velocity expanded state vector information and the actual yaw angular velocity expanded state estimation vector information, the terminal device can accurately generate the yaw channel angular velocity loop error expanded vector information according to the reference angular velocity expanded state vector information and the actual yaw angular velocity expanded state estimation vector information; wherein the yaw channel angular velocity loop error expanded vector information can be:

[0085] ,

[0086] In the formula, Represents the yaw channel angular velocity loop error expansion vector information.

[0087] In S230, yaw channel angular velocity loop control law information is generated according to the yaw channel angular velocity loop error expansion vector information.

[0088] Specifically, after the terminal device generates the yaw channel angular velocity loop error extension vector information, the terminal device can effectively generate the yaw channel angular velocity loop control law information according to the yaw channel angular velocity loop error extension vector information to obtain the yaw angular velocity controller; wherein the yaw channel angular velocity loop control law information can be:

[0089] ,

[0090] In the formula, Represents the yaw channel angular velocity loop control law information; Indicates the preset first control coefficient information, which can be manually adjusted; Indicates preset first adjustable parameter information; Represents the yaw controller coefficient information, which can be configured and designed according to the desired poles.

[0091] Without loss of generality, represents the first control filtering information, Indicates the filter coefficient information, represents the complex variable in the transfer function.

[0092] In S240 , altitude channel speed loop control law information is generated based on the altitude channel speed information.

[0093] Specifically, after the terminal device generates the yaw channel angular velocity loop control law information, the terminal device can effectively generate the altitude channel velocity loop control law information based on the altitude channel velocity information; it should be noted that all position loops and angle loops of the target helicopter can use nonlinear pole configuration (NPAC) as controllers.

[0094] In some possible implementations, the altitude channel speed information includes reference speed information and actual speed information; in order to further implement the trajectory tracking control design of the target helicopter, please refer to Figure 7 Step S240 includes but is not limited to the following steps:

[0095] In S241, reference speed extended state vector information and actual speed extended state estimation vector information are acquired.

[0096] Without loss of generality, since all velocity loops and angular velocity loops are nonlinear and relatively severely coupled, a model-independent high-order differential feedback control (HODFC) can be adopted, that is, its control filter is used to compensate for unknown nonlinear models and disturbances.

[0097] Specifically, after the terminal device generates the pole configuration controller information, the terminal device can effectively generate reference speed expansion state vector information and actual speed expansion state estimation vector information based on the pole configuration controller information; wherein, the reference speed expansion state vector information is used to describe the reference speed expansion state vector of the altitude channel velocity loop; the actual speed expansion state estimation vector information is used to describe the actual speed expansion state estimation vector of the altitude channel velocity loop.

[0098] Exemplarily, the reference speed expansion state vector information may be:

[0099] ,

[0100] In the formula, Represents the reference velocity expansion state vector information; Indicates the reference speed information of the target helicopter; Indicates the reference acceleration information of the target helicopter.

[0101] The above actual speed extended state estimation vector information can be:

[0102] ,

[0103] In the formula, Represents the actual speed extended state estimation vector information, Indicates the actual speed information of the target helicopter. Indicates the actual acceleration information of the target helicopter.

[0104] It should be noted that .

[0105] In S242, altitude channel velocity loop error expansion vector information is generated according to the reference velocity expansion state vector information and the actual velocity expansion state estimation vector information.

[0106] Specifically, after the terminal device generates the reference speed extended state vector information and the actual speed extended state estimation vector information, the terminal device can accurately generate the altitude channel speed loop error extended vector information according to the reference speed extended state vector information and the actual speed extended state estimation vector information; wherein the altitude channel speed loop error extended vector information can be:

[0107] ,

[0108] In the formula, Indicates the error expansion vector information of the altitude channel velocity loop;

[0109] In S243, the altitude channel velocity loop control law information is generated according to the altitude channel velocity loop error expansion vector information.

[0110] Specifically, after the terminal device generates the altitude channel speed loop error extension vector information, the terminal device can effectively generate the altitude channel speed loop control law information according to the altitude channel speed loop error extension vector information, and realize obtaining the speed controller through the speed error; wherein the altitude channel speed loop control law information can be:

[0111] ,

[0112] In the formula, Indicates the control law information of the altitude channel speed loop; Indicates the preset second control coefficient information, which can be manually adjusted; Indicates preset second adjustable parameter information; Represents the height controller coefficient information, which can be configured and designed according to the desired poles.

[0113] in, Indicates second control filtering information; Indicates filter coefficient information.

[0114] In S300, first motion state information of the target helicopter and second motion state information of the target interception object are obtained.

[0115] Specifically, the terminal device can obtain the first motion state information of the target helicopter and the second motion state information of the target interception object, wherein the target interception object is used to describe the aerial target that needs to be intercepted.

[0116] In S400, expected position information of the target helicopter is generated based on the first motion state information and the second motion state information.

[0117] Specifically, after the terminal device obtains the first motion state information and the second motion state information, the terminal device can accurately generate the expected position information of the target helicopter based on the first motion state information and the second motion state information, thereby completing the design of the air target interception guidance rate.

[0118] In some possible implementations, in order to facilitate the interception of air targets, see Figure 8Step S400 includes but is not limited to the following steps:

[0119] In S410, interception error information is generated according to the first motion state information and the second motion state information.

[0120] Specifically, the terminal device can effectively generate interception error information according to the first motion state information and the second motion state information; wherein the first motion state information can be:

[0121] ,

[0122] In the formula, Represents the position vector information of the target helicopter in the ground coordinate system; The first derivative representing the position vector information; Represents the velocity vector information of the target helicopter in the ground coordinate system; Represents the first-order derivative corresponding to the velocity vector information in the ground coordinate system; Represents the acceleration vector information of the target helicopter in the ground coordinate system.

[0123] Without loss of generality, since the target interception object can be assumed to be a particle during the interception process, the second motion state information can be:

[0124] ,

[0125] In the formula, Represents the position vector information of the target interception object in the ground coordinate system; Represents the velocity vector information of the target interception object in the ground coordinate system; Represents the acceleration vector information of the target interception object in the ground coordinate system;

[0126] Exemplarily, the above interception error information may be:

[0127] ,

[0128] In the formula, Indicates intercept error information; Indicates the current time information; Represents the integral variable information; Indicates the helicopter acceleration information of the target helicopter; Indicates the take-off time information of the target helicopter; Indicates the target acceleration information of the target interception object.

[0129] It should be noted that since the trajectory of the target interception object changes all the time, that is, the acceleration of the target interception object changes all the time, a rolling optimization solution can be performed in the subsequent sequential quadratic programming (SQP) optimization solution. When the interception time is expressed as , the interception time is expressed as When the interception is successful, the expectation can be:

[0130] .

[0131] In S420 , rolling optimization constraint information is generated based on the interception error information.

[0132] Specifically, after the terminal device generates the interception error information, the terminal device may generate rolling optimization constraint information based on the interception error information, so as to accurately determine the constraints that need to be satisfied when solving the rolling optimization; wherein the rolling optimization constraint information may be:

[0133] ,

[0134] In the formula, Indicates The acceleration information corresponding to the target helicopter obtained by the secondary optimization is the expected acceleration of the target helicopter; The value range of represents any positive integer greater than 0; Indicates the predicted interception time information of the target helicopter; Represents the acceleration of the target helicopter in the x, y and z directions of the inertial coordinate system; represents the direction matrix information, the first item of the direction matrix information is the acceleration of the target helicopter along the X-axis of the inertial coordinate system, the second item of the direction matrix information is the acceleration of the target helicopter along the Y-axis of the inertial coordinate system, and the third item of the direction matrix information is the acceleration of the target helicopter along the Z-axis of the inertial coordinate system. It should be noted that the SQP optimization solution in this step can be implemented using the fmincon function in MATLAB.

[0135] In S430, the expected position information of the target helicopter is generated based on the rolling optimization constraint information.

[0136] Specifically, after the terminal device generates the rolling optimization constraint information, the terminal device may integrate the optimized expected acceleration to generate the expected position information of the target helicopter, thereby accurately determining the expected position of the target helicopter; wherein the expected position information may be:

[0137] ,

[0138] In the formula, Indicates the expected location information.

[0139] In S500, a planned instruction is generated according to the yaw channel angular velocity loop control law information, the altitude channel velocity loop control law information and the expected position information.

[0140] Specifically, after the terminal device generates the expected position information, the terminal device can generate planned instructions based on the yaw channel angular velocity loop control law information, the altitude channel velocity loop control law information and the expected position information, thereby enabling the target helicopter to track the optimized interception trajectory through position loop control and attitude loop control.

[0141] In order to further realize the trajectory tracking control design of the target helicopter, please refer to some possible implementations. Fig. 9 Before step S500, the method further includes but is not limited to the following steps:

[0142] In S501, yaw channel angle information and altitude channel position information are obtained.

[0143] Specifically, the terminal device can first obtain the yaw channel angle information and the altitude channel position information, wherein the yaw channel angle information is used to describe the angle corresponding to the yaw channel of the target helicopter; the altitude channel position information is used to describe the position corresponding to the altitude channel of the target helicopter.

[0144] In S502, first relationship information is generated according to the yaw channel angle information and the yaw channel angular velocity information.

[0145] Specifically, the terminal device may first generate first relationship information according to the yaw channel angle information and the yaw channel angular velocity information; wherein the first relationship information is used to describe the relationship between the yaw channel angle information and the yaw channel angular velocity information, and the first relationship information may be:

[0146] ,

[0147] In the formula, Represents the first derivative of the yaw channel angle information; Indicates the yaw channel angle information; represents the preset first known model function, ; Indicates the pitch velocity information of the target helicopter; Indicates the angular velocity information of the yaw channel; Indicates the roll angle information of the target helicopter; Indicates the pitch angle information of the target helicopter.

[0148] In S503, yaw channel angle loop tracking error information is generated based on the first relationship information.

[0149] Specifically, after the terminal device generates the first relationship information, the terminal device can effectively generate the yaw channel angle loop tracking error information based on the first relationship information; wherein the yaw channel angle loop tracking error information can be:

[0150] ,

[0151] In the formula, Indicates the tracking error information of the yaw channel angle loop; Indicates the desired yaw angle information of the target helicopter.

[0152] In S504, pole configuration control law information is generated according to the yaw channel angle loop tracking error information, the roll angle information, and the pitch angle information.

[0153] Specifically, after the terminal device generates the yaw channel angle loop tracking error information, the terminal device can accurately generate the pole configuration control law information according to the yaw channel angle loop tracking error information, the roll angle information and the pitch angle information, thereby determining the nonlinear pole configuration control law of the yaw channel angle loop and obtaining the yaw angle controller; wherein the above-mentioned pole configuration control law information can be:

[0154] ,

[0155] In the formula, represents the pole placement control law information, Indicates preset first control parameter information, the first control parameter information may be the only adjustable control parameter, and the only adjustable control parameter may be configured and designed according to the desired pole; It represents the expected yaw rate information of the target helicopter, and the expected yaw rate information can be estimated by a high order differentiator (HOD).

[0156] In S505, second relationship information is generated according to the altitude channel position information and the altitude channel speed information.

[0157] Specifically, the terminal device can effectively generate the second relationship information according to the altitude channel position information and the altitude channel speed information; wherein the second relationship information is used to describe the relationship between the altitude channel position information and the altitude channel speed information, and the second relationship information can be:

[0158] ,

[0159] In the formula, Indicates second relationship information; Indicates the height channel position information; Altitude channel speed information.

[0160] in, represents a preset second known model function, .

[0161] In S506 , altitude channel tracking error information is generated based on the second relationship information.

[0162] Specifically, after the terminal device generates the second relationship information, the terminal device can effectively generate the altitude channel tracking error information based on the second relationship information; wherein the altitude channel tracking error information can be:

[0163] ,

[0164] In the formula, Indicates the height channel tracking error information, Indicates the desired altitude information of the target helicopter.

[0165] In S507, pole configuration controller information is generated according to the altitude channel tracking error information, the roll angle information, and the pitch angle information.

[0166] Specifically, after the terminal device generates the height channel tracking error information, the terminal device may generate the pole configuration controller information according to the height channel tracking error information, the roll angle information and the pitch angle information, thereby determining the nonlinear pole configuration controller of the height channel position loop and obtaining the height position controller; wherein the pole configuration controller information may be:

[0167] ,

[0168] In the formula, Represents the pole placement controller information; Indicates preset second control parameter information, the second control parameter information may be the only adjustable control parameter, and the only adjustable control parameter may be configured and designed according to the desired pole; Indicates the estimated height and speed error information, that is, the estimated height and speed error.

[0169] It should be noted that the above-mentioned pole configuration control law information is used as a yaw angular velocity channel controller for controlling the yaw channel, and the pole configuration controller information is used as an altitude channel position controller. In addition, the pole configuration controller information can be used as an outer loop, and the altitude channel velocity loop control law information can be used as an inner loop to form a dual closed-loop control of the altitude channel.

[0170] In some possible implementations, the tracking control method based on the unmanned helicopter may include twelve controllers, namely, a position controller for an x-channel, a speed controller for a y-channel, a position controller for a y-channel, a speed controller for a y-channel, a position controller for a z-channel, a speed controller for a z-channel, an angle controller for a pitch channel, an angular velocity controller for a pitch channel, an angle controller for a yaw channel, an angular velocity controller for a yaw channel, an angle controller for a roll channel, and an angular velocity controller for a roll channel. In some possible implementations, each controller may be designed independently and there may be no association between the controllers.

[0171] Accordingly, the above step S500 includes but is not limited to the following steps:

[0172] In S510, a planned instruction is generated according to the yaw channel angular velocity loop control law information, the altitude channel velocity loop control law information, the pole configuration control law information, the pole configuration controller information and the expected position information.

[0173] Specifically, after the terminal device generates the pole configuration control law information and the pole configuration controller information, the terminal device can generate planned instructions based on the yaw channel angular velocity loop control law information, the altitude channel velocity loop control law information, the pole configuration control law information, the pole configuration controller information and the expected position information, thereby facilitating the precise interception of aerial targets.

[0174] In S600, the target helicopter is controlled based on the planned instructions.

[0175] Specifically, after the terminal device generates the planned instructions, the terminal device can control the target helicopter based on the planned instructions, so that the target helicopter tracks the planned trajectory and finally completes the air interception of the accelerated high-maneuverable target, wherein the planned instructions are used to instruct the target helicopter to perform the air interception target mission.

[0176] In a possible implementation, in order to enable the target helicopter to track the reference position more stably, the nonlinear pole configuration controller of the x-channel position loop of the target helicopter may be:

[0177] ,

[0178] In the formula, express Nonlinear pole placement controller for channel position loop; Indicates preset third control parameter information, the third control parameter information may be the only adjustable control parameter, and the only adjustable control parameter may be configured and designed according to the desired pole; Indicates the x-channel position tracking error; Represents the estimated tracking error of the x-channel position loop.

[0179] In the formula, represents the known model of the x channel position loop, , Indicates the speed corresponding to the y channel of the target helicopter, Indicates the speed corresponding to the z channel of the target helicopter, where the z channel is the altitude channel.

[0180] Furthermore, the x-channel speed loop control law can be:

[0181] ,

[0182] In the formula, Represents the speed loop control law of channel x; Indicates the preset fourth control coefficient information, which can be manually adjusted; express Channel velocity loop error expansion vector; ,in, represents the pitch angle after filtering, is the pitch angle before filtering, is the control quantity at the previous moment, Represents the filter coefficient.

[0183] It should be noted that the reason why the terminal device uses the pitch angle as a core parameter to construct the x-channel speed loop control law is because the speed of the unmanned helicopter in the x-direction is related to the pitch angle; for example, the more the nose of the unmanned helicopter points downward, the greater the x-direction component force provided by its main rotor, which in turn makes its speed faster.

[0184] in, represents the preset third adjustable parameter information, , the third adjustable parameter information can be configured and designed according to the desired pole, represents the x-direction velocity tracking error coefficient; Represents the control coefficient, which can be adjusted manually.

[0185] Without loss of generality, due to The channel velocity loop can obtain the desired pitch angle, so the control of the pitch angle can also belong to the trajectory tracking control system. channel, so the nonlinear pole placement controller of the pitch channel angle loop of the target helicopter can be:

[0186] ,

[0187] In the formula, A nonlinear pole placement controller representing the angle loop of the pitch channel; Indicates preset fifth control parameter information, the fifth control parameter information may be the only adjustable control parameter, and the fifth adjustable control parameter may be configured and designed according to the desired pole; Indicates the pitch angle tracking error; express The estimated value of represents the estimated pitch angular velocity, Represents the pitch angular velocity before estimation and can be obtained by a high-order differentiator.

[0188] In the formula, represents the known model of the pitch channel, , Indicates the roll angular velocity.

[0189] It should be noted that the reason why the nonlinear pole configuration controller of the pitch channel angle loop adopts the pitch angular velocity as the core parameter is derived based on the prototype of the nonlinear pole configuration controller. The reference angular velocity information needs to be adopted in the prototype of the nonlinear pole configuration controller. The prototype of the nonlinear pole configuration controller is:

[0190] ,

[0191] In the formula, Indicates the control quantity, represents the control coefficient, represents the error coefficient, represents the state error, Represents the reference state derivative, which can be substituted into the reference angular velocity information. Represents other items in the system.

[0192] Furthermore, the pitch channel angular velocity loop control law can be:

[0193] ,

[0194] In the formula, represents the control law of the angular velocity loop of the pitch channel; Indicates the preset sixth control coefficient information, which can be manually adjusted; Represents the pitch angular velocity information after filtering, .

[0195] in, represents the preset fourth adjustable parameter information, , the fourth adjustable parameter information can be configured and designed according to the desired pole, Indicates the pitch angular velocity adjustment coefficient; It is necessary to explain that since the control system design process of the y channel is similar to that of the x channel, it will not be described in detail.

[0196] Without loss of generality, the relevant control law for the y channel can be:

[0197] ,

[0198] In the formula, represents the nonlinear pole placement controller of the y channel position loop; Indicates the fuselage roll angle; Indicates the fuselage pitch angle; Represents the y channel position tracking error coefficient; Indicates the y channel position tracking error; represents the estimated y-channel velocity tracking error. It should be noted that the reason why the nonlinear pole configuration controller of the y-channel position loop is associated with the y-channel velocity tracking error can be referred to the similar description in the nonlinear pole configuration controller of the pitch channel angle loop, so it is not repeated here. Represents the known model of the y channel position ring, , where Indicates the speed corresponding to the x channel of the target helicopter.

[0199] In the formula, The longitudinal cyclic pitch variation in the main rotor dynamics model can be taken as The lateral cyclic pitch in the main rotor dynamics model can be taken as the control input to control the longitudinal flapping angle of the main rotor of the target helicopter during flight. and lateral swing angle , thereby facilitating further attitude control of the target helicopter by changing the longitudinal cyclic pitch and the lateral cyclic pitch.

[0200] In the formula, represents the nonlinear pole placement controller of the y-channel velocity loop; represents a preset third control coefficient; , represents the first adjustable parameter of the preset, represents a preset first error control coefficient; The error expansion vector representing the velocity of the y channel; Represents the filtered roll angle.

[0201] In the formula, represents the nonlinear pole placement controller for the roll angle, represents the roll angle controller coefficient, represents the roll angle tracking error, represents the reference roll angular velocity, Represents the known model of the roll channel, .

[0202] In the formula, represents the roll angular velocity controller, represents the preset fourth control coefficient, , Represents the preset second adjustable parameter, represents the preset second error control coefficient, represents the error expansion vector of the roll angular velocity channel, Represents the filtered roll angular velocity.

[0203] Without loss of generality, the inventors have conducted a large number of experiments on the tracking control method. For example, see Fig.10 , Fig.10 This is a trajectory tracking control simulation experiment for tracking the "8" climbing trajectory. In this experiment, the initial position of the target helicopter is set to (0,0,0)m, the initial attitude angle is (0,0,0)rad, the simulation running time is 80s, and , and The external force disturbances applied on the axis are The mathematical expression of the "8" climbing trajectory can be:

[0204] ,

[0205] In the formula, represents the reference trajectory in the x direction; represents the reference trajectory in the y direction; Represents the reference trajectory in the z direction; the reference azimuth can be set to 0.

[0206] Depend on Fig.10 It can be seen that the control system composed of high-order differential feedback control (HODFC) and nonlinear pole assignment control (NPAC) has the best control effect and higher tracking accuracy, while the control system composed of proportional-integral-derivative (PID) controller has relatively poor control accuracy and the tracking trajectory deviates from the reference trajectory relatively seriously.

[0207] For example, see Fig.11 , Fig.11 This paper is a simulation experiment of trajectory tracking control for air interception of highly maneuverable targets with variable acceleration. In this experiment, the target is intercepted by using optimization algorithms based on ideal proportional navigation (IPN), pure proportional navigation (PPN), proportional-derivative guidance (PD) or sequential quadratic programming (SQP). When the distance between the target helicopter and the target interception object is less than 0.5 meters, the interception is considered successful. The initial position of the target interception object is set to (50, 80, 100) meters. The motion trajectory of the target helicopter can be:

[0208] ,

[0209] In the formula, Represented as the x-direction trajectory of the target; Represents the y-direction trajectory of the target; represents the target z-direction trajectory; 50, 80, and 100 in the formula all represent the initial position; , and Represents the acceleration of the target in the x, y, and z directions respectively.

[0210] Depend on Fig.11 It can be seen that the target interception based on the SQP optimization algorithm can achieve the best comprehensive interception effect compared with other optimization algorithms.

[0211] The implementation principle of the tracking control method based on the unmanned helicopter in the embodiment of the present application is as follows: the terminal device can first obtain the yaw channel angular velocity information and the altitude channel velocity information of the target helicopter, and then effectively generate the yaw channel angular velocity loop control law information based on the yaw channel angular velocity information, and at the same time effectively generate the altitude channel velocity loop control law information based on the altitude channel velocity information, and then obtain the first motion state information of the target helicopter and the second motion state information of the target interception object, and then accurately generate the expected position information of the target helicopter based on the first motion state information and the second motion state information, and then generate the desired position information of the target helicopter based on the yaw channel angular velocity loop control law information, the altitude channel velocity loop control law information and the altitude channel velocity loop control law information. The expected position information is used to generate effective planning instructions. Finally, based on the planning instructions, the target helicopter is accurately controlled to perform the air interception target task, thereby adopting a nonlinear pole configuration controller to make full use of known model information and reduce the convergence time of the control system. A high-order differential feedback controller that does not depend on the model is adopted to compensate for unknown nonlinear models and disturbances through its control filter to achieve the purpose of high-precision control and realize the anti-interference of the control system. At the same time, by constructing a dynamic model of the target and the small unmanned helicopter during the interception process, the sequential quadratic programming algorithm is used to optimize the flight path of the unmanned helicopter, and accurate interception of high-maneuverable targets is achieved while ensuring efficiency.

[0212] It should be noted that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0213] The embodiment of the present application also provides a tracking control system based on an unmanned helicopter. For ease of description, only the parts related to the present application are shown, such as Fig.12 As shown, the system 120 includes:

[0214] The yaw channel angle information acquisition module 121 is used to acquire the yaw channel angular velocity information and altitude channel velocity information of the target helicopter;

[0215] The control law information generating module 122 is used to generate the yaw channel angular velocity loop control law information based on the yaw channel angular velocity information, and to generate the altitude channel velocity loop control law information based on the altitude channel velocity information;

[0216] The motion state information acquisition module 123 is used to acquire the first motion state information of the target helicopter and the second motion state information of the target interception object;

[0217] Expected position information generating module 124: used to generate expected position information of the target helicopter based on the first motion state information and the second motion state information;

[0218] The planned instruction generation module 125 is used to generate the planned instruction according to the yaw channel angular velocity loop control law information, the altitude channel velocity loop control law information and the expected position information;

[0219] The target helicopter control module 126 is used to control the target helicopter based on the planned instructions, wherein the planned instructions are used to instruct the target helicopter to perform an air interception target mission.

[0220] Optionally, the expected location information generating module 124 includes:

[0221] An interception error information generating submodule: used to generate interception error information according to the first motion state information and the second motion state information;

[0222] Rolling optimization constraint information generation submodule: used to generate rolling optimization constraint information based on interception error information;

[0223] Expected position information generation submodule: used to generate the expected position information of the target helicopter based on the rolling optimization constraint information.

[0224] It should be noted that the information interaction, execution process and other contents between the above-mentioned modules are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0225] It should be noted that the information interaction, execution process and other contents between the above-mentioned modules are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0226] The present application also provides a terminal device, such as Fig.13 As shown, the terminal device 130 of this embodiment includes: a processor 131, a memory 132, and a computer program 133 stored in the memory 132 and executable on the processor 131. When the processor 131 executes the computer program 133, the steps in the above tracking control method embodiment are implemented, for example Figure 1 Steps S100 to S600 shown; or, when the processor 131 executes the computer program 133, the functions of each module in the above device are realized, for example Fig.12 The functions of modules 121 to 126 are shown.

[0227] The terminal device 130 may be a computing device such as a desktop computer, a notebook, a PDA, or a cloud server. The terminal device 130 includes but is not limited to a processor 131 and a memory 132. Those skilled in the art will appreciate that Fig.13It is only an example of the terminal device 130 and does not constitute a limitation of the terminal device 130. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the terminal device 130 may also include input and output devices, network access devices, buses, etc.

[0228] Among them, the processor 131 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.; the general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc.

[0229] The memory 132 may be an internal storage unit of the terminal device 130, such as a hard disk or memory of the terminal device 130, or an external storage device of the terminal device 130, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card (FlashCard), etc. equipped on the terminal device 130; further, the memory 132 may include both an internal storage unit and an external storage device of the terminal device 130, and the memory 132 may also store a computer program 133 and other programs and data required by the terminal device 130, and the memory 132 may also be used to temporarily store data that has been output or is to be output.

[0230] An embodiment of the present application also provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the steps of each of the above method embodiments can be implemented. Among them, the computer program includes computer program code, which can be in source code form, object code form, executable file or some intermediate form, etc.; the computer-readable medium may include: any entity or device that can carry computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc.

[0231] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, all equivalent changes made according to the methods, principles, and structures of the present application should be included in the protection scope of the present application.

Claims

1. A tracking control method based on an unmanned helicopter, characterized in that: The method comprises: Obtain the yaw channel angular velocity information and altitude channel velocity information of the target helicopter; Based on the yaw channel angular velocity information, generating yaw channel angular velocity loop control law information, and based on the altitude channel velocity information, generating altitude channel velocity loop control law information; Acquiring first motion state information of the target helicopter and second motion state information of the target interception object; generating expected position information of the target helicopter based on the first motion state information and the second motion state information; Generate a planned instruction according to the yaw channel angular velocity loop control law information, the altitude channel velocity loop control law information and the desired position information; Based on the instructions obtained from the plan, the target helicopter is controlled, wherein the instructions obtained from the plan are used to instruct the target helicopter to perform an aerial interception target mission.

2. The method according to claim 1, characterized in that Before acquiring the yaw channel angular velocity information and the altitude channel velocity information of the target helicopter, the method further includes: Obtain a rigid body dynamics model and a fuselage dynamics model of the target helicopter, wherein the rigid body dynamics model is: ， In the formula, is the acceleration vector information of the target helicopter in a preset body coordinate system, is the angular velocity vector information of the target helicopter in the body coordinate system, is the velocity vector information of the target helicopter in the body coordinate system, is the resultant force information of the target helicopter, , is the fuselage of the target helicopter along the body coordinate system The resistance generated by the shaft, is the fuselage of the target helicopter along the body coordinate system The resistance generated by the shaft, is the fuselage of the target helicopter along the body coordinate system The resistance generated by the shaft, is the mass of the target helicopter, is the projection of the gravity of the target helicopter in the body coordinate system, is the angular acceleration vector information of the target helicopter in the body coordinate system, is the inertia matrix information of the target helicopter, is the torque vector information of the target helicopter, ; Based on the rigid body dynamics model, component set information corresponding to the main rotor dynamics model of the target helicopter is determined to control the longitudinal flapping angle and the lateral flapping angle of the target helicopter, wherein the component set information includes tension component information and moment component information, the tension component information is used to describe the component set of the resultant force information, and the moment component information is used to describe the component set of the moment vector information, and the tension component information is: ， In the formula, is the tension component information corresponding to the main rotor dynamics model on the X-axis of the body coordinate system, is the thrust generated by the main rotor of the target helicopter, is the longitudinal flapping angle information corresponding to the main rotor, is the lateral flapping angle information corresponding to the main rotor; is the tension component information corresponding to the main rotor dynamics model on the Y-axis of the body coordinate system, The corresponding pulling force component information of the main rotor dynamics model on the Z axis of the body coordinate system; The torque component information is: ， In the formula, is the torque component information corresponding to the main rotor on the roll axis, is the vertical distance information between the hub of the main rotor and the center of gravity of the target helicopter, is the elastic coefficient information of the main rotor, is the first-order derivative corresponding to the moment component information on the roll axis, is the time constant information of the main rotor, is the roll angular velocity information of the main rotor, is the pitch angular velocity information of the target helicopter, is the torque component information corresponding to the main rotor on the pitch axis, is the first-order derivative corresponding to the moment component information on the pitch axis, is the torque component information corresponding to the main rotor on the yaw axis, is the air density information, is the rotation speed information of the main rotor, is the radius information of the main rotor, is the blade number information of the main rotor, is the chord length information of the main rotor, is the solidity information of the main rotor, is the torque coefficient information of the main rotor, and the torque coefficient information is: ， In the formula, is the thrust coefficient information of the main rotor, is the blade drag coefficient information of the main rotor.

3. The method according to claim 2, characterized in that The yaw channel angular velocity information includes reference yaw angular velocity information and actual yaw angular velocity information; the generating yaw channel angular velocity loop control law information based on the yaw channel angular velocity information, and the generating altitude channel velocity loop control law information based on the altitude channel velocity information, includes: Obtain reference angular velocity expansion state vector information and actual yaw angular velocity expansion state estimation vector information, wherein the reference angular velocity expansion state vector information is: , In the formula, is the reference angular velocity expansion state vector information, is the reference yaw angular velocity information of the target helicopter, is the reference yaw angle acceleration information of the target helicopter; The actual yaw angular velocity extended state estimation vector information is: ， In the formula, The actual yaw rate extended state estimation vector information, is the actual yaw angular velocity information of the target helicopter, The actual yaw angle acceleration information of the target helicopter; According to the reference angular velocity expansion state vector information and the actual yaw angular velocity expansion state estimation vector information, the yaw channel angular velocity loop error expansion vector information is generated, wherein the yaw channel angular velocity loop error expansion vector information is: , In the formula, The yaw channel angular velocity loop error expansion vector information; According to the yaw channel angular velocity loop error expansion vector information, the yaw channel angular velocity loop control law information is generated, wherein the yaw channel angular velocity loop control law information is: , In the formula, is the yaw channel angular velocity loop control law information, is the preset first control coefficient information, is the preset first adjustable parameter information, , is the yaw controller coefficient information, is the first control filtering information, , is the filter coefficient information, is the complex variable in the transfer function; Based on the altitude channel speed information, altitude channel speed loop control law information is generated.

4. The method according to claim 3, characterized in that The altitude channel speed information includes reference speed information and actual speed information; the generating altitude channel speed loop control law information based on the altitude channel speed information includes: Obtain reference speed expansion state vector information and actual speed expansion state estimation vector information, wherein the reference speed expansion state vector information is: ， In the formula, is the reference velocity expanded state vector information, is the reference speed information of the target helicopter, is the reference acceleration information of the target helicopter; The actual speed extended state estimation vector information is: ， In the formula, Expanding the state estimation vector information for the actual speed, is the actual speed information of the target helicopter, is the actual acceleration information of the target helicopter; According to the reference speed expansion state vector information and the actual speed expansion state estimation vector information, the altitude channel speed loop error expansion vector information is generated, wherein the altitude channel speed loop error expansion vector information is: ， In the formula, Extending vector information of the altitude channel velocity loop error; According to the altitude channel velocity loop error expansion vector information, altitude channel velocity loop control law information is generated, wherein the altitude channel velocity loop control law information is: ， In the formula, is the speed loop control law information of the altitude channel, is the preset second control coefficient information, is the preset second adjustable parameter information, , is the height controller coefficient information, is the second control filtering information, , is the filter coefficient information.

5. The method according to claim 4, characterized in that The generating the expected position information of the target helicopter based on the first motion state information and the second motion state information includes: Generate interception error information according to the first motion state information and the second motion state information, wherein the first motion state information is: ， In the formula, is the position vector information of the target helicopter in the ground coordinate system, is the first-order derivative of the position vector information, is the velocity vector information of the target helicopter in the ground coordinate system, is the first-order derivative corresponding to the velocity vector information in the ground coordinate system, is the acceleration vector information of the target helicopter in the ground coordinate system; The second motion state information is: ， In the formula, is the position vector information of the target interception object in the ground coordinate system, is the velocity vector information of the target interception object in the ground coordinate system, The acceleration vector information of the target interception object in the ground coordinate system; The interception error information is: ， In the formula, is the interception error information, is the current time information, is the integral variable information, is the helicopter acceleration information of the target helicopter, is the take-off time information of the target helicopter, Target acceleration information of the target interception object; Based on the interception error information, rolling optimization constraint information is generated, wherein the rolling optimization constraint information is: ， In the formula, For the The acceleration information corresponding to the target helicopter obtained by the optimization, The value range of is any positive integer greater than 0. is the predicted interception time information of the target helicopter, is the acceleration of the target helicopter in the inertial coordinate system, is direction matrix information, the direction matrix information includes the acceleration of the target helicopter along the X-axis of the inertial coordinate system, the acceleration of the target helicopter along the Y-axis of the inertial coordinate system, and the acceleration of the target helicopter along the Z-axis of the inertial coordinate system, is a constraint condition; Based on the rolling optimization constraint information, the expected position information of the target helicopter is generated, wherein the expected position information is: ， In the formula, is the expected position information.

6. The method according to claim 5, characterized in that Before generating the planned instruction according to the yaw channel angular velocity loop control law information, the altitude channel velocity loop control law information and the expected position information, the method further includes: Obtain yaw channel angle information and altitude channel position information; Generate first relationship information according to the yaw channel angle information and the yaw channel angular velocity information, wherein the first relationship information is used to describe the relationship between the yaw channel angle information and the yaw channel angular velocity information, and the first relationship information is: , In the formula, is the first-order derivative of the yaw channel angle information, is the yaw channel angle information, is the preset first known model function, , is the pitch angular velocity information of the target helicopter, is the yaw channel angular velocity information, is the roll angle information of the target helicopter, is the pitch angle information of the target helicopter; Based on the first relationship information, yaw channel angle loop tracking error information is generated, wherein the yaw channel angle loop tracking error information is: ， In the formula, is the yaw channel angle loop tracking error information, is the expected yaw angle information of the target helicopter; According to the yaw channel angle loop tracking error information, the roll angle information and the pitch angle information, the pole configuration control law information is generated, wherein the pole configuration control law information is: ， In the formula, Assign control law information to the poles, is the preset first control parameter information, is the expected yaw angular velocity information of the target helicopter; Generate second relationship information according to the altitude channel position information and the altitude channel speed information, wherein the second relationship information is used to describe the relationship between the altitude channel position information and the altitude channel speed information, and the second relationship information is: ， In the formula, is the second relationship information, is the altitude channel position information, is the preset second known model function, for , The altitude channel speed information, To control the amount; Based on the second relationship information, height channel tracking error information is generated, wherein the height channel tracking error information is: ， In the formula, is the height channel tracking error information, The expected altitude information of the target helicopter; Generate pole configuration controller information according to the height channel tracking error information, the roll angle information and the pitch angle information, wherein the pole configuration controller information is: ， In the formula, Configure controller information for the pole, is the preset second control parameter information, To estimate the height speed error information; Accordingly, generating a planned instruction according to the yaw channel angular velocity loop control law information, the altitude channel velocity loop control law information and the desired position information includes: A planned instruction is generated according to the yaw channel angular velocity loop control law information, the altitude channel velocity loop control law information, the pole configuration control law information, the pole configuration controller information and the expected position information.

7. A tracking control system based on an unmanned helicopter, characterized in that: The system comprises: Yaw channel angle information acquisition module: used to obtain the yaw channel angular velocity information and altitude channel velocity information of the target helicopter; A control law information generating module is used to generate the yaw channel angular velocity loop control law information based on the yaw channel angular velocity information, and to generate the altitude channel velocity loop control law information based on the altitude channel velocity information; A motion state information acquisition module: used to acquire the first motion state information of the target helicopter and the second motion state information of the target interception object; An expected position information generating module: used for generating the expected position information of the target helicopter based on the first motion state information and the second motion state information; A planned instruction generation module is used to generate a planned instruction according to the yaw channel angular velocity loop control law information, the altitude channel velocity loop control law information and the expected position information; Target helicopter control module: used to control the target helicopter based on the instructions obtained from the plan, wherein the instructions obtained from the plan are used to instruct the target helicopter to perform an aerial interception target mission.

8. The system according to claim 7, characterized in that The expected position information generating module comprises: An interception error information generating submodule: used for generating interception error information according to the first motion state information and the second motion state information; A rolling optimization constraint information generating submodule: used for generating rolling optimization constraint information based on the interception error information; Expected position information generating submodule: used to generate the expected position information of the target helicopter based on the rolling optimization constraint information.

9. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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