Active disturbance rejection attitude control method, aircraft, medium and program product

Abstract

The embodiments of the present application provide an auto-disturbance rejection attitude control method, an aircraft, a medium and a program product, and relate to the field of automatic control technology. The method comprises: using a tracking differentiator to convert an initial control instruction into a smoothing instruction; using an extended state observer to generate an ESO observation quantity based on the attitude observation variables during the operation of the UAV; using a multi-level feedforward control law to generate a compensated angular acceleration differential instruction based on the smoothing instruction and the ESO observation quantity; and determining the compensated motor control quantity based on the compensated angular acceleration differential instruction, the ESO observation quantity and the pre-set control parameters. The embodiments of the present application improve the feedback control architecture and add a multi-level feedforward mechanism on the basis of the traditional auto-disturbance rejection controller, which not only effectively simplifies the structure of the auto-disturbance rejection controller and simplifies the types of parameters that need to be adjusted, but also effectively improves the response efficiency and anti-disturbance performance of the UAV auto-disturbance rejection attitude control.

Description

Technical Field

[0001] The present application relates to the field of automatic control technology, and in particular to an automatic anti-disturbance attitude control method, an aircraft, a medium, and a program product. Background Art

[0002] Active Disturbance Rejection Control (ADRC) is an automatic control technology that improves system robustness and performance by estimating and compensating for internal and external disturbances in real time. ADRC consists of three main components: a tracking differentiator (TD), an extended state observer (ESO), and a nonlinear state error feedback (NLSEF) control law.

[0003] At present, in the field of multi-rotor UAV control, the active disturbance rejection controller not only has the problems of complex control structure and cumbersome parameter setting, but also has the problems of low control response efficiency and weak anti-disturbance performance of the UAV. Summary of the Invention

[0004] The purpose of the embodiments of the present application is to provide an active disturbance rejection attitude control method, aircraft, medium and program product to simplify the complexity of the active disturbance rejection controller and improve the control response efficiency and anti-disturbance performance of the UAV.

[0005] In a first aspect, an embodiment of the present application provides an active disturbance rejection attitude control method, comprising:

[0006] The tracking differentiator of the active disturbance rejection controller is used to convert the initial control command into a smooth command;

[0007] The extended state observer of the active disturbance rejection controller is used to generate ESO observations based on the attitude observation variables during the operation of the UAV;

[0008] Utilizing a multi-level feedforward control law of the active disturbance rejection controller to generate a compensated angular acceleration differential command based on the smoothing command and the ESO observation; wherein the multi-level feedforward control law includes an angular velocity feedforward control law, an angular acceleration feedforward control law, and an angular acceleration differential feedforward control law;

[0009] The compensated motor control amount is determined based on the compensated angular acceleration differential instruction, the ESO observation amount and the pre-set control parameters.

[0010] In the embodiment of the present application, by improving the feedback control architecture and adding a multi-level feedforward mechanism based on the traditional ADRC, not only the structure of the ADRC is effectively simplified and the types of parameters that need to be adjusted are streamlined, but also the response efficiency and anti-disturbance performance of the UAV's ADRC attitude control are effectively improved.

[0011] In some possible embodiments, the attitude observation variable includes an attitude angle observation variable, the ESO observation quantity includes an ESO angular velocity observation quantity and an ESO angular acceleration observation quantity; the smoothing instruction includes a smoothing angle instruction;

[0012] The method of utilizing the multi-level feedforward control law of the active disturbance rejection controller to generate a compensated angular acceleration differential instruction based on the smoothing instruction and the ESO observation quantity includes:

[0013] In the angular velocity feedforward control law, a compensated angular velocity instruction is generated based on an attitude angle error, an angular velocity feedforward amount, and a pre-set angle proportional control coefficient; wherein the attitude angle error is calculated based on the attitude angle observation variable and the smoothed angle instruction;

[0014] In the angular acceleration feedforward control law, a compensated angular acceleration command is generated based on an angular velocity error, an angular acceleration feedforward amount, and a pre-set angular velocity proportional control coefficient; wherein the angular velocity error is calculated based on the ESO angular velocity observation and the compensated angular velocity command;

[0015] In the angular acceleration differential feedforward control law, a compensated angular acceleration differential instruction is generated based on an angular acceleration error, an angular acceleration differential feedforward amount, and a pre-set angular acceleration proportional control coefficient; wherein the angular acceleration error is calculated based on the ESO angular acceleration observation and the compensated angular acceleration instruction.

[0016] In an embodiment of the present application, by injecting angular velocity feedforward, angular acceleration feedforward and angular acceleration differential feedforward into the anti-disturbance rejection controller, a feedforward-feedback composite control link is formed, which effectively improves the response speed of the system and reduces the control loop's dependence on disturbance compensation.

[0017] In some possible embodiments, the smoothing instruction further includes a smoothing angular velocity instruction; and the angular velocity feedforward is calculated based on the smoothing angular velocity instruction.

[0018] In the embodiment of the present application, by calculating the angular velocity feedforward according to the smoothed angular velocity command, the control loop's reliance on angular velocity disturbance compensation can be effectively reduced.

[0019] In some possible embodiments, the smoothing instruction further includes a smoothing angular acceleration instruction;

[0020] The method for obtaining the angular acceleration feedforward includes:

[0021] Determining an angular velocity feedforward error based on the smoothed angular velocity command, the ESO angular velocity observation, and a pre-set angular velocity loop feedforward coefficient;

[0022] The angular acceleration feedforward amount is determined based on the angular velocity feedforward error amount and the smoothed angular acceleration command.

[0023] In the embodiment of the present application, by calculating the angular acceleration feedforward amount based on the angular velocity feedforward error and the smoothed angular acceleration command, the control loop's reliance on angular acceleration disturbance compensation can be effectively reduced.

[0024] In some possible embodiments, the smoothing instruction further includes a smoothing angular acceleration differential instruction;

[0025] The method for obtaining the angular acceleration differential feedforward amount includes:

[0026] Determining a first angular acceleration feedforward error based on the smoothed angular acceleration command, the ESO angular acceleration observation, and a pre-set angular acceleration loop feedforward coefficient;

[0027] determining an angular acceleration differential first-order feedforward amount based on the first angular acceleration feedforward error amount and the smoothed angular acceleration differential instruction;

[0028] determining a second angular acceleration feedforward error based on the angular acceleration feedforward, the ESO angular acceleration observation, and the angular acceleration loop feedforward coefficient;

[0029] The angular acceleration differential feedforward amount is determined based on the angular acceleration differential first-order feedforward amount and the second angular acceleration feedforward error amount.

[0030] In an embodiment of the present application, by calculating the angular acceleration differential feedforward based on the errors between the ESO angular acceleration observation and the angular acceleration feedforward and smoothed angular acceleration instructions, combined with the smoothed angular acceleration differential instruction, the control loop's dependence on angular acceleration differential disturbance compensation can be effectively reduced.

[0031] In some possible embodiments, the ESO observation quantity includes an ESO observation nonlinear interference quantity and an ESO observation dynamic torque;

[0032] The method of determining the compensated motor control amount based on the compensated angular acceleration differential instruction, the ESO observation amount, and a pre-set control parameter includes:

[0033] The compensated motor control amount is determined based on the compensated angular acceleration differential instruction, the ESO observed nonlinear disturbance, the ESO observed torque and pre-set control parameters.

[0034] In the embodiment of the present application, the anti-interference performance of the UAV attitude control is further improved by combining the ESO observed nonlinear interference quantity and the ESO observed dynamic torque to calculate the motor control quantity.

[0035] In some possible embodiments, the control parameters include a dynamic response coefficient and a motor inertia time constant;

[0036] The active disturbance rejection attitude control method further includes:

[0037] Based on a pre-built adaptive parameter output model, the real-time numerical values of the attitude angle error, the angular velocity error, and the angular acceleration error are used as input, and the dynamic response coefficient and the motor inertia time constant are used as output to dynamically obtain the adaptive parameter values of the dynamic response coefficient and the motor inertia time constant.

[0038] In an embodiment of the present application, the real-time performance and environmental adaptability of the UAV attitude control are further improved by using the dynamically acquired real-time attitude error as input and using the adaptive parameter output model to output adaptively optimized control parameters.

[0039] In a second aspect, an embodiment of the present application provides an active disturbance rejection attitude control device, comprising:

[0040] A command smoothing module, for converting an initial control command into a smooth command by using a tracking differentiator of an active disturbance rejection controller;

[0041] An attitude observation module is used to generate ESO observations based on attitude observation variables during the operation of the UAV using the extended state observer of the active disturbance rejection controller;

[0042] a command compensation module, configured to generate a compensated angular acceleration differential command based on the smoothing command and the ESO observation using a multi-level feedforward control law of the active disturbance rejection controller; wherein the multi-level feedforward control law includes an angular velocity feedforward control law, an angular acceleration feedforward control law, and an angular acceleration differential feedforward control law;

[0043] A control output module is used to determine the compensated motor control quantity based on the compensated angular acceleration differential instruction, the ESO observation quantity and the pre-set control parameters.

[0044] In a third aspect, an embodiment of the present application provides an aircraft, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor can implement the method described in any embodiment of the first aspect when executing the program.

[0045] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the method described in any embodiment of the first aspect can be implemented.

[0046] In a fifth aspect, an embodiment of the present application provides a computer program product, which includes a computer program, wherein when the computer program is executed by a processor, it can implement the method described in any embodiment of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0048] Figure 1 A flowchart of an active disturbance rejection attitude control method provided in an embodiment of the present application;

[0049] Figure 2 A schematic diagram of the overall structure of the active disturbance rejection attitude control provided in an embodiment of the present application;

[0050] Figure 3 A schematic diagram of the specific structure of the active disturbance rejection attitude control provided in an embodiment of the present application;

[0051] Figure 4 A schematic diagram of an angular acceleration feedforward calculation module provided in an embodiment of the present application;

[0052] Figure 5 Schematic diagram of the angular acceleration differential feedforward calculation module provided in an embodiment of the present application;

[0053] Figure 6 A schematic diagram of a motor control quantity calculation module provided in an embodiment of the present application;

[0054] Figure 7 A schematic structural diagram of an active disturbance rejection attitude control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0055] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0056] It should be noted that similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and should not be understood as indicating or implying relative importance.

[0057] It's important to note that in the field of multi-rotor UAV control, controller structures are becoming increasingly diverse, and control parameters are becoming increasingly complex. Therefore, the quality of controller parameters directly determines the control performance and system stability of multi-rotor UAVs. Existing multi-rotor UAV attitude control schemes generally suffer from complex parameter types, rigid parameters, strong model dependence, and poor adaptability.

[0058] In order to solve the above problems in the prior art, the present invention provides an anti-disturbance attitude control method to improve the attitude control performance of a multi-rotor UAV.

[0059] like Figure 1 As shown, the embodiment of the present application provides an automatic disturbance rejection attitude control method, which may include the following steps:

[0060] S1, using the tracking differentiator of the active disturbance rejection controller to convert the initial control command into a smooth command;

[0061] S3, using the extended state observer of the active disturbance rejection controller to generate ESO observations based on the attitude observation variables during the operation of the UAV;

[0062] S2. Utilizing a multi-level feedforward control law of an active disturbance rejection controller to generate a compensated angular acceleration differential command based on a smoothing command and an ESO observation; wherein the multi-level feedforward control law includes an angular velocity feedforward control law, an angular acceleration feedforward control law, and an angular acceleration differential feedforward control law;

[0063] S4. Determine the compensated motor control quantity based on the compensated angular acceleration differential instruction, the ESO observation quantity and the pre-set control parameters.

[0064] It should be noted that the traditional active disturbance rejection controller is a product composed of a tracking differentiator, an extended state observer and a nonlinear state error feedback control law. Based on the traditional active disturbance rejection control framework, the active disturbance rejection controller of the embodiment of the present application inherits the tracking differentiator and extended state observer therein, which are used for smoothing the command signal and real-time observation of disturbance signals inside and outside the system.

[0065] Please combine Figure 2 and Figure 3, wherein the embodiment of the present application adopts a fourth-order tracking differentiator, which is used to convert the input initial control instruction into a smooth instruction. It should be noted that the "instructions" in the embodiment of the present application can all be expressed as specific numerical values that directly participate in the calculation. For example, the smooth angle instruction refers to a specific angle value. The initial control instruction can be one or more initial instructions for controlling the motor, and the smooth instruction is an instruction obtained after smoothing these initial instructions respectively. Exemplarily, the initial control instruction may include an attitude angle initial instruction, an angular velocity initial instruction, an angular acceleration initial instruction, and an angular acceleration differential initial instruction; accordingly, the smooth instruction may include a smooth angle instruction, a smooth angular velocity instruction, a smooth angular acceleration instruction, and a smooth angular acceleration differential instruction.

[0066] The extended state observer is used to process the attitude observation variables during the operation of the UAV to obtain the corresponding ESO observations. For example, the ESO observations can include ESO angular velocity observations, ESO angular acceleration observations, ESO observed nonlinear disturbances, and ESO observed dynamic torques.

[0067] In addition, based on the basic structure of the tracking differentiator and the extended state observer, the embodiment of the present application improves and optimizes the nonlinear feedback control law (nonlinear state error feedback control law) in the traditional active disturbance rejection controller, and adds a multi-level feedforward mechanism, which can be specifically a three-level cascade proportional control law.

[0068] The three-stage cascade proportional control law primarily consists of a first-stage angle loop, a second-stage angular velocity loop, and a third-stage angular acceleration loop. The first-stage angle loop primarily outputs a target angular velocity command based on the attitude angle command and attitude angle feedback. The second-stage angular velocity loop primarily generates a target angular acceleration command based on the angular velocity error. The third-stage angular acceleration loop primarily generates a target angular acceleration differential command based on the angular acceleration error. Furthermore, by injecting angular velocity feedforward, angular acceleration feedforward, and angular acceleration differential feedforward into the first-stage angle loop, second-stage angular velocity loop, and third-stage angular acceleration loop, respectively, a feedforward-feedback composite control chain is formed, effectively improving the system's response speed and significantly reducing the feedback loop's reliance on disturbance compensation.

[0069] Finally, the compensated angular acceleration differential instruction generated by the multi-level feedforward control law is input into the motor control quantity calculation module. Combined with the pre-set control parameters, the motor control quantity after multi-level feedforward compensation is finally calculated and used to perform attitude control of the UAV.

[0070] The embodiments of the present application improve the feedback control architecture and add a multi-level feedforward mechanism on the basis of the traditional ADRC, which not only effectively simplifies the structure of the ADRC and streamlines the types of parameters that need to be adjusted, but also effectively improves the response efficiency and anti-disturbance performance of the UAV's ADRC attitude control.

[0071] In some possible embodiments, the attitude observation variable includes an attitude angle observation variable, the ESO observation quantity includes an ESO angular velocity observation quantity and an ESO angular acceleration observation quantity; the smoothing instruction includes a smoothing angle instruction;

[0072] Step S2, using the multi-level feedforward control law of the active disturbance rejection controller to generate a compensated angular acceleration differential instruction based on the smoothing instruction and the ESO observation, may include:

[0073] In the angular velocity feedforward control law, a compensated angular velocity command is generated based on the attitude angle error, the angular velocity feedforward value, and the pre-set angle proportional control coefficient; wherein the attitude angle error is calculated based on the attitude angle observation variable and the smoothed angle command;

[0074] In the angular acceleration feedforward control law, a compensated angular acceleration command is generated based on the angular velocity error, the angular acceleration feedforward value, and the pre-set angular velocity proportional control coefficient. The angular velocity error is calculated based on the ESO angular velocity observation and the compensated angular velocity command.

[0075] In the angular acceleration differential feedforward control law, a compensated angular acceleration differential instruction is generated based on the angular acceleration error, the angular acceleration differential feedforward amount, and a pre-set angular acceleration proportional control coefficient. The angular acceleration error is calculated based on the ESO angular acceleration observation and the compensated angular acceleration instruction.

[0076] Specifically, the output relationship of the angular velocity feedforward control law can be expressed as:

[0077]

[0078] in, is the angular velocity command after compensation, is the pre-set angle proportional control coefficient, is the smooth angle command output by the tracking differentiator, It is based on the attitude angle observation variables obtained during the flight of the UAV. Represents the attitude angle error calculated based on the attitude angle observation variable and the smooth angle instruction, is the angular velocity feedforward.

[0079] The output relationship of the angular acceleration feedforward control law can be expressed as:

[0080]

[0081] in, is the angular acceleration command after compensation, is the pre-set angular velocity proportional control coefficient, is the angular velocity command after compensation, is the ESO angular velocity observation output by the extended state observer, represents the angular velocity error, is the angular acceleration feedforward.

[0082] The output relationship of the angular acceleration differential feedforward control law can be expressed as:

[0083]

[0084] in, is the angular acceleration differential instruction after compensation, is the pre-set angular acceleration proportional control coefficient, is the compensated angular acceleration command, is the ESO angular acceleration observed by the extended state observer, represents the angular acceleration error, is the angular acceleration differential feedforward.

[0085] It should be noted that 、 and The parameters are determined by the order of magnitude of the output control quantity of each cascade control loop. After the initial tuning is completed, there is no need to re-tune them under different machine models, different environments, and different interferences. Based on this, compared with existing simple cascade controllers without feedforward, such as PID controllers (Proportion Integration Differentiation, proportional-integral-differential controllers), each loop needs to tune three parameters: P (control parameter of the proportional unit), I (control parameter of the integral unit), and D (control parameter of the differential unit), and the tuning difficulty of I and D parameters is generally greater than that of P parameters. Therefore, the controller of the embodiment of the present application simplifies the parameter complexity, and each cascade loop only needs to tune one P parameter, and most of the parameters in the controller usually do not need to be adjusted after the initial tuning. Only the non-standard inertia link coefficient b is adjusted when the machine model or load changes.

[0086] In an embodiment of the present application, a composite feedforward-feedback control link is formed by injecting angular velocity feedforward, angular acceleration feedforward and angular acceleration differential feedforward into the anti-disturbance rejection controller. Since the complex nonlinear feedback control structure that the traditional ADRC controller relies on is omitted, the response speed of the system is effectively improved, thereby effectively reducing the control loop's dependence on disturbance compensation; at the same time, since the tuning process of I parameters and D parameters in the traditional PID controller is omitted, the parameter complexity of the controller is simplified, thereby effectively reducing the difficulty of controller parameter tuning.

[0087] In some possible embodiments, the smoothing instruction further includes a smoothing angular velocity instruction; and the angular velocity feedforward amount is calculated based on the smoothing angular velocity instruction.

[0088] like Figure 3 As shown, it should be noted that the angular velocity feedforward Based on smooth angular velocity command For example, the smoothed angular velocity command can be directly used as the angular velocity feedforward, that is, .

[0089] In some possible embodiments, the smoothing instruction further includes a smoothing angular acceleration instruction;

[0090] The methods for obtaining the angular acceleration feedforward include:

[0091] Determine the angular velocity feedforward error based on the smoothed angular velocity command, the ESO angular velocity observation and the pre-tuned angular velocity loop feedforward coefficient;

[0092] An angular acceleration feedforward amount is determined based on an angular velocity feedforward error amount and a smoothed angular acceleration command.

[0093] Please combine Figure 3 and Figure 4 It should be noted that the angular acceleration feedforward amount is calculated by the angular acceleration feedforward calculation module.

[0094] Exemplarily, the input of the angular acceleration feedforward calculation module includes the smoothed angular acceleration instruction , smooth angular velocity command and ESO angular velocity observations Three parameters; specifically, first based on the smooth angular velocity command and ESO angular velocity observations The difference is multiplied by the pre-set angular velocity loop feedforward coefficient , the angular velocity feedforward error is obtained, which is expressed as: ; Then, the angular velocity feedforward error With smooth angular acceleration command The added sum is used as the angular acceleration feedforward.

[0095] Based on this, the output of the angular acceleration feedforward calculation module can be expressed as:

[0096]

[0097] in, Indicates the angular acceleration feedforward; Represents the pre-tuned angular velocity loop feedforward coefficient, which can usually be used in conjunction with the angular velocity proportional control coefficient Same value; Indicates smooth angular velocity command; is the ESO angular velocity observation output by the extended state observer; Indicates the smoothed angular acceleration command.

[0098] In some possible embodiments, the smoothing instruction further includes a smoothing angular acceleration derivative instruction;

[0099] The methods for obtaining the angular acceleration differential feedforward include:

[0100] Determining a first angular acceleration feedforward error based on a smoothed angular acceleration command, an ESO angular acceleration observation, and a pre-tuned angular acceleration loop feedforward coefficient;

[0101] Determining an angular acceleration differential first-order feedforward amount based on a first angular acceleration feedforward error amount and a smoothed angular acceleration differential instruction;

[0102] Determining a second angular acceleration feedforward error based on the angular acceleration feedforward, the ESO angular acceleration observation, and the angular acceleration loop feedforward coefficient;

[0103] The angular acceleration differential feedforward amount is determined based on the angular acceleration differential first-order feedforward amount and the second angular acceleration feedforward error amount.

[0104] Please combine Figure 3 and Figure 5 It should be noted that the angular acceleration differential feedforward amount is calculated by the angular acceleration differential feedforward calculation module.

[0105] Exemplarily, the input of the angular acceleration differential feedforward calculation module includes the smoothed angular acceleration differential instruction , smooth angular acceleration command , ESO angular acceleration observation and angular acceleration feedforward Four parameters;

[0106] Specifically, first based on the smooth angular acceleration instruction and ESO angular acceleration observations The difference is multiplied by the pre-set angular acceleration loop feedforward coefficient , the first angular acceleration feedforward error is obtained, which is expressed as: ; Then, the first angular acceleration feedforward error is combined with the smoothed angular acceleration differential instruction The sum of the additions is used as the first-order feedforward quantity of the angular acceleration differential;

[0107] At the same time, based on the angular acceleration feedforward and ESO angular acceleration observations The difference is multiplied by the angular acceleration loop feedforward coefficient , the second angular acceleration feedforward error is obtained, which is expressed as ; Finally, the sum of the second angular acceleration feedforward error and the first-level angular acceleration differential feedforward is taken as the angular acceleration differential feedforward.

[0108] Based on this, the output of the angular acceleration differential feedforward calculation module can be expressed as:

[0109]

[0110] in, Represents the angular acceleration differential feedforward; Indicates the pre-tuned angular acceleration loop feedforward coefficient, which can usually be used as the proportional control coefficient of the angular acceleration Same value; Indicates the angular acceleration feedforward; Indicates smooth angular acceleration command; is the ESO angular acceleration observed by the extended state observer; Indicates the smoothed angular acceleration derivative instruction.

[0111] In some possible embodiments, the ESO observation quantity includes an ESO observation nonlinear interference quantity and an ESO observation dynamic torque;

[0112] The compensated motor control quantity is determined based on the compensated angular acceleration differential instruction, the ESO observation quantity and the pre-tuned control parameters, including:

[0113] The compensated motor control quantity is determined based on the compensated angular acceleration differential instruction, the ESO observed nonlinear disturbance quantity, the ESO observed dynamic torque and pre-tuned control parameters.

[0114] like Figure 6 As shown, illustratively, the calculation process of the motor control amount calculation module can be expressed as:

[0115]

[0116] in, Represents the multi-rotor motor control quantity (the motor control quantity after compensation by the multi-stage feedforward active disturbance rejection controller); C Represents the motor mixing matrix; k Represents the dynamic response coefficient, which is used to determine the response speed of the system; T Indicates the inertia time constant from the multirotor aircraft's output torque to the motor control quantity. This constant is determined by the motor and system characteristics and usually does not need to be adjusted after the initial tuning. Indicates the angular acceleration differential instruction after compensation; b Indicates the non-standard inertia link coefficient, which is determined by the motor and system characteristics and does not require tuning. It is usually set to 1. represents the active torque of the multirotor aircraft observed by the ESO extended state observer (ESO observed dynamic torque); represents the nonlinear disturbance observed by the ESO extended state observer (ESO observed nonlinear disturbance).

[0117] In some possible embodiments, the control parameters include a dynamic response coefficient and a motor inertia time constant;

[0118] The active disturbance rejection attitude control method also includes:

[0119] Based on the pre-built adaptive parameter output model, the real-time numerical values of attitude angle error, angular velocity error and angular acceleration error are taken as input, and the dynamic response coefficient and motor inertia time constant are taken as output to dynamically obtain the adaptive parameter values of the dynamic response coefficient and motor inertia time constant.

[0120] It should be noted that for the dynamic response coefficient k and the motor inertia time constant T The two parameters can also be updated using dynamic adaptive adjustment, where a neural network, optimization algorithm, or the like can be used as the basic architecture of the adaptive parameter output model. For example, the adaptive parameter output model of this embodiment can employ a three-layer BP (Back Propagation) neural network to achieve dynamic optimization of the controller parameters through an online learning mechanism.

[0121] Specifically, the attitude angle error , angular velocity error , angular acceleration error and aircraft attitude output are the four input nodes of the neural network; among them, the attitude angle error can be expressed as: ; The angular velocity error can be expressed as: ; The angular acceleration error can be expressed as: Then, set the hidden layer nodes of the BP network. For example, you can choose to set it to six hidden layer nodes. In addition, set the parameters that need to be optimized. k and parameters T As the two output nodes of the neural network.

[0122] Then, set the performance indicator function of the BP neural network, for example, it can be set to:

[0123]

[0124] in, It is a performance indicator function used to guide the optimization direction of the model during each iteration of the BP network. t is the number of adjustment iterations of the BP network; , 、 and They are the transfer weight coefficients of attitude angle error, angular velocity error and angular acceleration error, respectively, which are used to quantify the optimization priority of different parameters, that is, to control the weights of attitude angle error, angular velocity error and angular acceleration error in the process of parameter adaptive tuning respectively, that is, the process of parameter adaptive tuning gives priority to ensuring that the error with a large weight coefficient meets the control accuracy requirements.

[0125] For example, the above transfer weight coefficient can be set as:

[0126]

[0127] Based on this, in the parameter adaptive tuning process, the control accuracy of the attitude angle is prioritized, followed by the angular velocity control accuracy, and finally the angular acceleration control accuracy.

[0128] Please combine Figure 2 and Figure 3 , through the parameter adaptive module (adaptive parameter output model) based on BP neural network, the multi-rotor control error (attitude angle error, angular velocity error and angular acceleration error) collected at each sampling moment is used as input, and the hidden layer weights of the model network are corrected according to the gradient descent method. Specifically, according to each iteration E ( t ) value, the weight of the model network is searched and adjusted in the negative gradient direction, and the control parameters with higher control accuracy, faster response and stronger anti-interference performance are continuously output. k and T , in order to cope with the problem of changes in optimal control parameters caused by changes in system characteristics, load and environment during the flight of multi-rotor UAV, so that the multi-rotor UAV can always maintain the optimal control state.

[0129] Please refer to Figure 7 , Figure 7 The block diagram of the composition of the active disturbance rejection attitude control device provided by some embodiments of the present application is shown. It should be understood that the active disturbance rejection attitude control device is similar to the above-mentioned Figure 1 Corresponding to the method embodiment, the various steps involved in the above method embodiment can be executed. The specific functions of the self-disturbance rejection attitude control device can be found in the description above. To avoid repetition, detailed description is appropriately omitted here.

[0130] Figure 7 The active disturbance rejection attitude control device includes at least one software function module that can be stored in a memory in the form of software or firmware or solidified in the active disturbance rejection attitude control device, and the active disturbance rejection attitude control device includes:

[0131] The command smoothing module 710 is used to convert the initial control command into a smooth command by using the tracking differentiator of the active disturbance rejection controller;

[0132] The attitude observation module 720 is used to generate ESO observations based on attitude observation variables during the operation of the UAV using the extended state observer of the active disturbance rejection controller;

[0133] a command compensation module 730 for generating a compensated angular acceleration differential command based on the smoothing command and the ESO observation using a multi-level feedforward control law of the active disturbance rejection controller; wherein the multi-level feedforward control law includes an angular velocity feedforward control law, an angular acceleration feedforward control law, and an angular acceleration differential feedforward control law;

[0134] The control output module 740 is used to determine the compensated motor control variable based on the compensated angular acceleration differential instruction, the ESO observation quantity and the pre-set control parameters.

[0135] It can be understood that the above-mentioned device embodiment corresponds to the method embodiment of the present invention. The self-interference rejection attitude control device provided by the embodiment of the present invention can implement the self-interference rejection attitude control method provided by any method embodiment of the present invention.

[0136] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working process of the device described above can refer to the corresponding process in the aforementioned method, and will not be described in detail here.

[0137] Some embodiments of the present application further provide a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method described in the method embodiment is executed.

[0138] Some embodiments of the present application further provide a computer program product, which, when running on a computer, enables the computer to execute the method described in the method embodiment.

[0139] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Similarities between the various embodiments can be referred to in conjunction with each other. For device embodiments, since they are generally similar to method embodiments, their description is relatively simple, and for relevant details, reference can be made to the description of the method embodiments.

[0140] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architectures, functions, and operations of the devices, methods, and computer program products according to the multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment, or a portion of code, and the module, program segment, or a portion of code contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or can be implemented using a combination of dedicated hardware and computer instructions.

[0141] In addition, the functional modules in each embodiment of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0142] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard drives, read-only memories (ROM), random access memories (RAM), magnetic disks or optical disks.

[0143] The foregoing is merely an embodiment of the present application and is not intended to limit the scope of protection of the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included within the scope of protection of the present application. It should be noted that similar reference numerals and letters represent similar items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further defined or explained in subsequent figures.

[0144] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

[0145] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

Claims

1. An active disturbance rejection attitude control method, characterized in that: include: The tracking differentiator of the active disturbance rejection controller is used to convert the initial control command into a smooth command; The extended state observer of the active disturbance rejection controller is used to generate ESO observations based on the attitude observation variables during the operation of the UAV; Utilizing a multi-level feedforward control law of the active disturbance rejection controller to generate a compensated angular acceleration differential command based on the smoothing command and the ESO observation; wherein the multi-level feedforward control law includes an angular velocity feedforward control law, an angular acceleration feedforward control law, and an angular acceleration differential feedforward control law; and the ESO observation includes an ESO angular acceleration observation; Determining a compensated motor control amount based on the compensated angular acceleration differential instruction, the ESO observation amount and a pre-set control parameter; The method of utilizing the multi-level feedforward control law of the active disturbance rejection controller to generate a compensated angular acceleration differential instruction based on the smoothing instruction and the ESO observation quantity includes: In the angular acceleration differential feedforward control law, a compensated angular acceleration differential instruction is generated based on an angular acceleration error, an angular acceleration differential feedforward amount, and a pre-set angular acceleration proportional control coefficient; wherein the angular acceleration error is calculated based on the ESO angular acceleration observation and the compensated angular acceleration instruction; The smoothing instruction also includes a smooth angular acceleration instruction and a smooth angular acceleration differential instruction; The method for obtaining the angular acceleration differential feedforward amount includes: Determining a first angular acceleration feedforward error based on the smoothed angular acceleration command, the ESO angular acceleration observation, and a pre-set angular acceleration loop feedforward coefficient; determining an angular acceleration differential first-order feedforward amount based on the first angular acceleration feedforward error amount and the smoothed angular acceleration differential instruction; Determining a second angular acceleration feedforward error based on the angular acceleration feedforward, the ESO angular acceleration observation, and the angular acceleration loop feedforward coefficient; The angular acceleration differential feedforward amount is determined based on the angular acceleration differential first-order feedforward amount and the second angular acceleration feedforward error amount.

2. The active disturbance rejection attitude control method according to claim 1, characterized in that: The attitude observation variable includes an attitude angle observation variable, the ESO observation quantity includes an ESO angular velocity observation quantity; the smoothing instruction includes a smoothing angle instruction; The method of utilizing the multi-level feedforward control law of the active disturbance rejection controller to generate a compensated angular acceleration differential instruction based on the smoothing instruction and the ESO observation quantity includes: In the angular velocity feedforward control law, a compensated angular velocity command is generated based on an attitude angle error, an angular velocity feedforward amount, and a pre-set angle proportional control coefficient; wherein the attitude angle error is calculated based on the attitude angle observation variable and the smoothed angle command; In the angular acceleration feedforward control law, a compensated angular acceleration instruction is generated based on an angular velocity error, an angular acceleration feedforward amount, and a pre-set angular velocity proportional control coefficient; wherein the angular velocity error is calculated based on the ESO angular velocity observation amount and the compensated angular velocity instruction.

3. The active disturbance rejection attitude control method according to claim 2, characterized in that: The smoothing instruction also includes a smoothing angular velocity instruction; the angular velocity feedforward amount is calculated based on the smoothing angular velocity instruction.

4. The active disturbance rejection attitude control method according to claim 3, characterized in that: The method for obtaining the angular acceleration feedforward includes: Determining an angular velocity feedforward error based on the smoothed angular velocity command, the ESO angular velocity observation, and a pre-set angular velocity loop feedforward coefficient; The angular acceleration feedforward amount is determined based on the angular velocity feedforward error amount and the smoothed angular acceleration command.

5. The active disturbance rejection attitude control method according to claim 1, characterized in that: The ESO observation quantity includes ESO observation nonlinear interference quantity and ESO observation dynamic torque; The method of determining the compensated motor control amount based on the compensated angular acceleration differential instruction, the ESO observation amount, and a pre-set control parameter includes: The compensated motor control amount is determined based on the compensated angular acceleration differential instruction, the ESO observed nonlinear disturbance, the ESO observed torque and pre-set control parameters.

6. The active disturbance rejection attitude control method according to claim 2, characterized in that: The control parameters include a dynamic response coefficient and a motor inertia time constant; The active disturbance rejection attitude control method further includes: Based on a pre-built adaptive parameter output model, the real-time numerical values of the attitude angle error, the angular velocity error, and the angular acceleration error are used as input, and the dynamic response coefficient and the motor inertia time constant are used as output to dynamically obtain the adaptive parameter values of the dynamic response coefficient and the motor inertia time constant.

7. An aircraft, characterized in that: The invention comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor can implement the active disturbance rejection attitude control method according to any one of claims 1 to 6 when executing the program.

8. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the active disturbance rejection attitude control method according to any one of claims 1 to 6 is executed.

9. A computer program product, characterized in that The computer program product includes a computer program, and when the computer program is executed by a processor, the active disturbance rejection attitude control method according to any one of claims 1 to 6 is implemented.

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