Air-ground amphibious platform cross-domain mode switching control method, equipment, medium and product

Abstract

The invention discloses an air-ground amphibious platform cross-domain mode switching control method and device, a medium and a product, and relates to the field of mode switching control. The method comprises the following steps: acquiring disturbance information data of an air-ground amphibious platform; the disturbance information data comprises environment disturbance data and cross-domain disturbance data; constructing an air-ground integrated control model; the air-ground integrated control model is a kinetic model constructed according to a Newton-Euler equation; performing cross-domain modal identification based on the disturbance information data and the air-ground integrated control model to obtain an identification result; and according to an identification result, a stable control algorithm is adopted to carry out composite control so as to realize cross-domain control of the air-ground amphibious platform. The invention aims to realize stable control of mode switching.

Description

Technical Field

[0001] The present application relates to the field of modal switching control, and in particular to a cross-domain modal switching control method, device, medium and product for an amphibious land-air platform. Background Art

[0002] For mission scenarios where it is difficult for personnel to enter, unmanned mobile platforms have advantages such as small size and strong mobility, and have a good substitution effect on personnel. Therefore, unmanned mobile platform technology has extensive applications in fields such as earthquake relief and special operations. In relatively complex environments, such as ruins, battlefields, complex indoor environments, etc., the mobility of traditional ground unmanned mobile platforms will be greatly restricted. Benefiting from the rapid development of multi-rotor UAV technology, amphibious land-air unmanned mobile platforms with both ground and air mobility capabilities have begun to be more widely used. Amphibious land-air unmanned platforms have multi-domain mobility capabilities and can adapt to various complex environments through the conversion of land-air modes. However, the current land-air mode switching is mostly static takeoff or hovering descent, and this static land-air mode switching method has the disadvantages of slow response speed and long switching time, which is not conducive to giving full play to the mobility advantages of amphibious land-air platforms.

[0003] Currently, unmanned mobile platform technology has been widely applied in various fields, and certain research results have also been achieved for the technology of amphibious land-air platforms for multi-domain application scenarios.

[0004] However, for the models established for amphibious land-air unmanned platforms at present, the ground driving state and flight state are generally separated into two independently working modes. Only after the actuators of the previous mode stop working, the actuators of the next mode start to work. The application object is an amphibious platform with static takeoff or hovering landing, and it is not suitable for an amphibious land-air platform that realizes dynamic mode switching and has a mixed land-air working state.

[0005] Or, currently, separate control for a single mode is generally adopted, and control methods for unmanned vehicles and multi-rotor UAVs are respectively adopted for the ground driving state and flight state, which is not suitable for an amphibious land-air unmanned platform with a mixed land-air state.

[0006] To enable an amphibious platform to achieve fast and continuous dynamic cross-domain mode switching, it is necessary to innovate the current control algorithm, fully consider the disturbances generated by mode switching, and perform coupled control on the land and air modes of the amphibious platform to solve the problems of rapidity and continuity of the amphibious platform during land-air mode switching and achieve stable control of mode switching. Summary of the Invention

[0007] The purpose of the present application is to provide a cross-domain modal switching control method, device, medium and product for an amphibious land-air platform, which can achieve stable control of mode switching.

[0008] To achieve the above object, the present application provides the following solutions:

[0009] In a first aspect, the present application provides a cross-domain mode switching control method for an amphibious land-air platform. The cross-domain mode switching control method for an amphibious land-air platform is applied to an amphibious land-air platform. The amphibious land-air platform includes: a ground traveling mechanism, a vehicle body, and an aircraft. The method includes:

[0010] Obtain the disturbance information data of the amphibious land-air platform. The disturbance information data includes: environmental disturbance data and cross-domain disturbance data;

[0011] Construct an integrated land-air control model. The integrated land-air control model is a dynamic model constructed based on the Newton-Euler equation;

[0012] Based on the disturbance information data and the integrated land-air control model, perform cross-domain mode identification to obtain an identification result;

[0013] According to the identification result, adopt a stable control algorithm for composite control to achieve cross-domain control of the amphibious land-air platform.

[0014] Optionally, the integrated land-air control model includes: a ground traveling mechanism model, a vehicle body model, and an aircraft model. The ground traveling mechanism model is used to provide force and torque to the vehicle body model;

[0015] The dynamic equation corresponding to the vehicle body model is:

[0016]

[0017] The dynamic equation corresponding to the aircraft model is:

[0018]

[0019] where, F x is the force provided by the ground traveling mechanism model on the x-axis of the coordinate system; m is the mass; u is the speed corresponding to the x-axis of the coordinate system; is the first derivative of u; v is the speed corresponding to the y-axis of the coordinate system; is the first derivative of v; w is the speed corresponding to the z-axis of the coordinate system; is the first derivative of w; p is the angular velocity corresponding to the x-axis of the coordinate system; q is the angular velocity corresponding to the y-axis of the coordinate system; r is the angular velocity corresponding to the z-axis of the coordinate system; F y is the force provided by the ground traveling mechanism model on the y-axis of the coordinate system; F z is the force provided by the ground traveling mechanism model on the z-axis of the coordinate system; is the first derivative of p; is the first derivative of q; The first derivative of r; M x The torque provided by the ground traveling mechanism model on the x-axis of the coordinate system; M y The torque provided by the ground traveling mechanism model on the y-axis of the coordinate system; M z The torque provided by the ground traveling mechanism model on the z-axis of the coordinate system; I xx The pose information of the vehicle body model on the x-axis of the coordinate system; I yy The pose information of the vehicle body model on the y-axis of the coordinate system; I zz The pose information of the vehicle body model on the z-axis of the coordinate system; The pose information of the aircraft model on the x-axis of the coordinate system; The pose information of the aircraft model on the y-axis of the coordinate system; The pose information of the aircraft model on the z-axis of the coordinate system; U1 is the total lift force; φ is the Euler angle corresponding to the x-axis of the coordinate system; θ is the Euler angle corresponding to the y-axis of the coordinate system; ψ is the Euler angle corresponding to the z-axis of the coordinate system; g is the acceleration due to gravity; The second derivative of φ; U2 is the lift force under the action of M x The lift force under the action of M y The lift force under the action of M z The lift force under the action of M RP J is the total moment of inertia of the entire motor rotor and propeller about the body axis; Ω is the sum of the rotational speeds of the quadrotor in the positive and negative rotation directions; The second derivative of ψ; J RP Ω is the gyroscopic torque generated by the rotation of the motor; The second derivative of θ.

[0020] Optionally, based on the perturbation information data and the land-air integrated control model, cross-domain modal identification is performed to obtain an identification result, specifically including:

[0021] Based on the land-air integrated control model, the vertical force is determined according to the perturbation information data; the vertical force is the force provided by the ground traveling mechanism model on the z-axis of the coordinate system;

[0022] According to the vertical force and the load data, cross-domain modal identification is performed to obtain an identification result; the identification result is: the ground traveling stage, the land-air modal cross-domain switching stage, or the flight stage;

[0023] When F z = mg, the identification result is the ground traveling stage;

[0024] When 0 < F z < mg, the identification result is the land-air modal cross-domain switching stage;

[0025] When F zWhen it is equal to 0, the recognition result is the flight phase;

[0026] Among them, F z is the force provided by the ground traveling mechanism model on the z-axis of the coordinate system; m is the mass; g is the acceleration due to gravity; mg is the load data.

[0027] Optionally, according to the recognition result, a stable control algorithm is adopted for composite control to achieve cross-domain control of the amphibious platform on land and air, specifically including:

[0028] When the recognition result is the ground traveling phase, a PID or sliding mode control method is used to control the ground traveling of the amphibious platform on land and air;

[0029] When the recognition result is the cross-domain switching phase between land and air modes, a land-air composite cross-domain control is performed on the amphibious platform on land and air based on a non-linear model; the non-linear model is obtained by discretizing the land-air integrated control model using the forward Euler method; the non-linear model includes: an objective function and constraint conditions;

[0030] When the recognition result is the flight phase, a double-loop cascade PID method is used to perform PID feedback control on the angle loop and the angular velocity loop to achieve flight control.

[0031] Optionally, when the recognition result is the cross-domain switching phase between land and air modes, a land-air composite cross-domain control is performed on the amphibious platform on land and air based on a non-linear model, specifically including:

[0032] The constraint conditions are used to solve the objective function, and a height-loop PID controller for controlling the vertical position is used for land-air composite cross-domain control.

[0033] Optionally, the expression of the objective function is:

[0034]

[0035] The expression corresponding to the constraint conditions is:

[0036] minJ(x(t),u(t));

[0037] Among them, J is the objective function; J1 is the objective function of the lateral position and the yaw angle; J2 is the objective function of the lateral position and the longitudinal vehicle speed; N p is the number of prediction steps; i is the serial number of the prediction step; y e is the error amount of the lateral position; ψ e is the error amount of the yaw angle; u is the output longitudinal speed; u ref is the reference speed; W y is the weight matrix of the lateral error; W ψ is the weight matrix of the yaw angle error; Wv is the weight matrix for the longitudinal speed error; y e,k+i|k is the lateral position error at the (k + i)-th moment predicted at the k-th moment; ψ e,k+i|k is the yaw angle error at the (k + i)-th moment predicted at the k-th moment; u k+i|k is the longitudinal vehicle speed output at the (k + i)-th moment predicted at the k-th moment; is the reference speed at the (k + i)-th moment; x(t) is the longitudinal position at time t;; u(t) is the longitudinal speed at time t; t is the running time.

[0038] Optionally, the control expression corresponding to the height loop PID controller is:

[0039]

[0040] where H ref (t) is the preset reference height; e H (t) is the actual height; is the proportional coefficient of the height loop PID controller; is the integral coefficient of the height loop PID controller; is the derivative coefficient of the height loop PID controller; is the first derivative of e H (t).

[0041] In a second aspect, the present application provides a computer device, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the computer program to implement the above-mentioned cross-domain mode switching control method for an amphibious land-air platform.

[0042] In a third aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the above-mentioned cross-domain mode switching control method for an amphibious land-air platform.

[0043] In a fourth aspect, the present application provides a computer program product, including a computer program, and when the computer program is executed by a processor, it implements the above-mentioned cross-domain mode switching control method for an amphibious land-air platform.

[0044] According to the specific embodiments provided by the present application, the present application has the following technical effects:

[0045] The present application provides a cross - domain mode switching control method, device, medium and product for an amphibious land - air platform. By acquiring the disturbance information data of the amphibious land - air platform, and then constructing an integrated land - air control model; based on the disturbance information data and the integrated land - air control model, cross - domain mode recognition is carried out, and according to the recognition result, a stable control algorithm is used for composite control to achieve the cross - domain control of the amphibious land - air platform. The present application obtains and analyzes the disturbances suffered by the amphibious land - air platform during the cross - domain switching stage, that is, obtains environmental disturbance data and cross - domain disturbance data, and then based on the disturbance information data and the integrated land - air control model, platform instability is carried out, that is, cross - domain mode recognition is carried out. Furthermore, by using a stable control algorithm for composite control, the traditional mode switching method of static take - off or hovering descent can be improved to a dynamic and continuous switching method, enhancing the multi - domain maneuverability of the amphibious land - air platform, thus solving the problems of rapidity and continuity during the land - air mode switching of the amphibious land - air platform, and realizing the stable control of mode switching. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0047] Figure 1 is a flowchart of the cross - domain mode switching control method for the amphibious land - air platform;

[0048] Figure 2 is a flowchart of the technical solution of the cross - domain mode switching control method for the amphibious land - air platform. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0049] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, rather than all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0050] To make the above - mentioned objects, features and advantages of the present application more obvious and understandable, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0051] In an exemplary embodiment, as Figure 1As shown, a cross - domain mode switching control method for an amphibious land - air platform is provided. This cross - domain mode switching control method for an amphibious land - air platform is applied to an amphibious land - air platform; the amphibious land - air platform includes: a ground driving mechanism, a vehicle body, and an aircraft.

[0052] As Figure 1 shown, the method includes:

[0053] Step 100: Obtain the disturbance information data of the amphibious land - air platform. The disturbance information data includes: environmental disturbance data and cross - domain disturbance data.

[0054] Step 200: Construct an integrated land - air control model. The integrated land - air control model is a dynamic model constructed based on the Newton - Euler equations.

[0055] Specifically, the integrated land - air control model includes: a ground driving mechanism model, a vehicle body model, and an aircraft model; the ground driving mechanism model is used to provide forces and torques to the vehicle body model.

[0056] The dynamic equation corresponding to the vehicle body model is:

[0057]

[0058] The dynamic equation corresponding to the aircraft model is:

[0059]

[0060] where, F x is the force provided by the ground driving mechanism model on the x - axis of the coordinate system; m is the mass; u is the velocity corresponding to the x - axis of the coordinate system; is the first - order derivative of u; v is the velocity corresponding to the y - axis of the coordinate system; is the first - order derivative of v; w is the velocity corresponding to the z - axis of the coordinate system; is the first - order derivative of w; p is the angular velocity corresponding to the x - axis of the coordinate system; q is the angular velocity corresponding to the y - axis of the coordinate system; r is the angular velocity corresponding to the z - axis of the coordinate system; F y is the force provided by the ground driving mechanism model on the y - axis of the coordinate system; F z is the force provided by the ground driving mechanism model on the z - axis of the coordinate system; is the first - order derivative of p; is the first - order derivative of q; is the first - order derivative of r; M x is the torque provided by the ground driving mechanism model on the x - axis of the coordinate system; M y is the torque provided by the ground driving mechanism model on the y - axis of the coordinate system; M z is the torque provided by the ground driving mechanism model on the z - axis of the coordinate system; I xxis the pose information of the vehicle body model on the x-axis of the coordinate system; I yy is the pose information of the vehicle body model on the y-axis of the coordinate system; I zz is the pose information of the vehicle body model on the z-axis of the coordinate system; is the pose information of the aircraft model on the x-axis of the coordinate system; is the pose information of the aircraft model on the y-axis of the coordinate system; is the pose information of the aircraft model on the z-axis of the coordinate system; U1 is the total lift force; φ is the Euler angle corresponding to the x-axis of the coordinate system; θ is the Euler angle corresponding to the y-axis of the coordinate system; ψ is the Euler angle corresponding to the z-axis of the coordinate system; g is the acceleration due to gravity; is the second derivative of φ; U2 is the lift force under the action of M x under the action of M y under the action of M z under the action of M RP is the total moment of inertia of the entire motor rotor and propeller about the body axis; Ω is the sum of the rotational speeds of the quadrotor in the positive and negative rotation directions; is the second derivative of ψ; J RP Ω is the gyroscopic moment generated by the motor rotation; is the second derivative of θ.

[0061] Step 300: Based on the perturbation information data and the land-air integrated control model, perform cross-domain modal identification to obtain the identification result.

[0062] In one embodiment, based on the perturbation information data and the land-air integrated control model, perform cross-domain modal identification to obtain the identification result, specifically including:

[0063] Based on the land-air integrated control model, determine the vertical force according to the perturbation information data; the vertical force is the force provided by the ground driving mechanism model on the z-axis of the coordinate system.

[0064] According to the vertical force and the load data, perform cross-domain modal identification to obtain the identification result; the identification result is: the ground driving stage, the land-air modal cross-domain switching stage, or the flight stage.

[0065] When F z = mg, the identification result is the ground driving stage.

[0066] When 0 < F z < mg, the identification result is the land-air modal cross-domain switching stage.

[0067] When F z = 0, the identification result is the flight stage.

[0068] Wherein, F zThe force provided for the ground travel mechanism model on the z-axis of the coordinate system; m is the mass; g is the acceleration due to gravity; mg is the load data.

[0069] Step 400: According to the recognition result, perform composite control using a stability control algorithm to achieve cross-domain control of the amphibious land-air platform.

[0070] As an optional implementation, according to the recognition result, perform composite control using a stability control algorithm to achieve cross-domain control of the amphibious land-air platform, specifically including:

[0071] When the recognition result is the ground travel stage, use the PID or sliding mode control method to control the ground travel of the amphibious land-air platform.

[0072] When the recognition result is the cross-domain switching stage between the land-air modes, perform land-air composite cross-domain control on the amphibious land-air platform based on a non-linear model. The non-linear model is obtained by discretizing the land-air integrated control model using the forward Euler method; the non-linear model includes: an objective function and constraint conditions.

[0073] When the recognition result is the flight stage, use the double-loop cascade PID method to perform PID feedback control on the angle loop and the angular velocity loop to achieve flight control.

[0074] Among them, when the recognition result is the cross-domain switching stage between the land-air modes, perform land-air composite cross-domain control on the amphibious land-air platform based on a non-linear model, specifically including:

[0075] Solve the objective function using the constraint conditions, and perform land-air composite cross-domain control based on the altitude loop PID controller for controlling the vertical position.

[0076] The expression of the objective function is:

[0077]

[0078] The expression corresponding to the constraint conditions is:

[0079] minJ(x(t),u(t)).

[0080] Among them, J is the objective function; J1 is the objective function of the lateral position and the yaw angle; J2 is the objective function of the lateral position and the longitudinal vehicle speed; N p is the number of prediction steps; i is the sequence number of the prediction step; y e is the error amount of the lateral position; ψ e is the error amount of the yaw angle; u is the output longitudinal speed; u ref is the reference speed; W y is the weight matrix of the lateral error; W ψ is the weight matrix of the yaw angle error; Wv is the weight matrix for the longitudinal speed error; y e,k+i|k is the lateral position error at the predicted k+i-th moment at the k-th moment; ψ e,k+i|k is the yaw angle error at the predicted k+i-th moment at the k-th moment; u k+i|k is the longitudinal vehicle speed output at the predicted k+i-th moment at the k-th moment; is the reference speed at the k+i-th moment; x(t) is the longitudinal position at time t; u(t) is the longitudinal speed at time t; t is the running time.

[0081] The control expression corresponding to the altitude loop PID controller is:

[0082]

[0083] where H ref (t) is the preset reference altitude; e H (t) is the actual altitude; is the proportional coefficient of the altitude loop PID controller; is the integral coefficient of the altitude loop PID controller; is the differential coefficient of the altitude loop PID controller; is the first derivative of e H (t).

[0084] The cross-domain mode switching control method for an amphibious unmanned mobile platform aims to describe the influence of the disturbances generated during the land-air mode switching on the real-time control of the amphibious platform, establish an integrated land-air disturbance control model; divide the working stages according to the land-air mode critical judgment conditions; and propose a cross-domain switching stability control algorithm. The corresponding technical solution flow chart is as Figure 2 shown.

[0085] 1. Acquisition and analysis of disturbance information data.

[0086] During the land-air mode switching of the amphibious platform, describe the disturbances of the external environment and the cross-domain switching process to the amphibious platform, and divide the disturbances received by the amphibious platform into two parts:

[0087] (1) External environmental disturbance data.

[0088] During the operation of the amphibious unmanned mobile platform, different environmental factors such as lateral wind, obstacles, etc. have certain differences in the influence on the amphibious platform. Linearize these disturbances to describe the influence degree of different external environmental disturbances on the amphibious platform.

[0089] (2) Cross-domain switching disturbance, that is, cross-domain disturbance data.

[0090] When the land-air amphibious platform switches between cross-domain modes, due to the start of the actuator of the next mode, there will be a certain degree of disturbance to the previous mode. Taking the takeoff process as an example: when the amphibious platform receives the takeoff command, the rotor starts to work. At this time, the platform will receive an upward lift force, and the contact force with the ground will decrease. This influence is considered as the disturbance received by the ground travel state, and this disturbance is linearized to describe the degree of influence of the platform during cross-domain switching due to mode switching.

[0091] After obtaining different types of disturbance information data, the cross-domain process is divided into stages. The vertical acceleration of the airframe is obtained through an inertial accelerometer and an IMU, and the real-time equivalent load of the airframe is estimated in combination with the rotor speed, which is used as the stage division standard; the obtained disturbance types are used as the auxiliary judgment basis for cross-domain stage division. The entire cross-domain process is subdivided into a cross-domain preparation stage (ground travel stage, mainly disturbed by environmental disturbance data), a land-air mode cross-domain switching stage (a composite mode of the ground travel stage and the flight stage, mainly disturbed by cross-domain switching), and a flight stage (mainly disturbed by the environment).

[0092] 2. Land-air integrated control model.

[0093] Based on the existing ground unmanned platform and quadrotor UAV models, a dynamic model of the land-air integrated amphibious unmanned platform is established. Taking the ground model as the main part and combining the UAV model, the UAV model is used as the model input for the three degrees of freedom of vertical movement, roll, and pitch of the ground model, expanding the ground model from three degrees of freedom to six degrees of freedom.

[0094] Set the contact force with the ground, that is, the force F provided by the ground travel mechanism model on the z-axis of the coordinate system z , as the critical judgment condition for the ground travel state and the flight state, and establish a land-air integrated control model.

[0095] This land-air integrated control model is built based on the Newton-Euler equation and consists of three parts: the ground travel mechanism model, the vehicle body model, and the aircraft model. The ground travel mechanism model provides the input of force and torque for the vehicle body model, and the vehicle body model outputs the actual pose information. Its dynamic equation is:

[0096]

[0097] Combined with the dynamic equation, the x, y, z positions and the three Euler angles of the land-air amphibious unmanned mobile platform can be further calculated. The aircraft model inputs the quadrotor speed and outputs the actual pose information of the land-air amphibious unmanned mobile platform. Its dynamic equation is:

[0098]

[0099] Among them, U1 = f, representing the total lift force, JRP Ω is the gyroscopic torque generated by the rotation of the motor.

[0100] The pose information output by the ground travel mechanism model is matched with the aircraft model. After obtaining the platform pose information respectively, the sum is used as the pose information output of the land-air amphibious platform under the land-air composite working condition.

[0101] The external environmental disturbance (environmental disturbance data) and cross-domain switching disturbance (cross-domain disturbance data) are used as the external inputs of the land-air integrated control model at different cross-domain stages. According to the actual influence of this input on the land-air amphibious platform, the corresponding controller is designed to adjust the actual control effect of the platform. Different types of disturbances are used as the external inputs of the corresponding models of the land-air amphibious platform respectively, and control methods are designed according to the characteristics of different disturbances: when the land-air amphibious platform is mainly affected by environmental disturbances and is in the cross-domain preparation stage or cross-domain flight stage, the land-air amphibious platform is an independent ground travel model or flight mode, and existing control methods such as cascade PID, MPC, etc. are used to control the platform; when the platform is mainly affected by cross-domain switching disturbances and is in the cross-domain travel stage, the land-air amphibious platform is in a composite mode of ground travel and flight. On the basis of existing ground travel control methods such as MPC, a height channel controller is added to control the platform.

[0102] 3. Design of the land-air cross-domain switching stability control algorithm.

[0103] On the basis of the existing control algorithm, the control algorithm is improved and innovatively designed. The cross-domain mode switching process of the land-air amphibious platform is divided into three stages. Control algorithms are designed for the main disturbance types received in each stage. The magnitude of the vertical force is set as the critical judgment condition for different stages, and a stage condition judgment module is designed to execute the corresponding control algorithm according to different stages.

[0104] (1) When F z = mg, that is, when the vertical force is equal to the load data of the land-air amphibious platform itself, it is in the ground travel stage. At this time, the vertical force of the land-air amphibious platform has no change, and the disturbances generated by the external ground environment factors are mainly considered. The existing control algorithms of ground unmanned platforms are used to control the ground travel stage of the platform.

[0105] Currently, the control methods of ground unmanned platforms include PID, sliding mode, model predictive control (Model Predictive Control, MPC), etc. PID control has the advantages of simple structure and convenient use, and is suitable for simple position and speed loop control; sliding mode control has high robustness and is suitable for systems with external disturbances and parameter uncertainties; model predictive control (MPC) has the advantage of optimizing control inputs and is suitable for multiple input multiple output (Multiple Input Multiple Output, MIMO) systems.

[0106] (2) When 0 < F z < mg, the land-air amphibious platform is in the cross-domain switching stage between land and air modes. At this time, the rotor starts to work, generating a vertically upward lift force that changes with time, and the vertical force begins to change. During this stage, the disturbance generated by the cross-domain switching process on the platform is mainly considered.

[0107] Design a vertical disturbance feedback controller: For the vertical disturbance received by the land-air amphibious platform, design a feedback control algorithm to generate a vertical correction amount for the disturbance, and achieve the vertical control of the land-air amphibious platform.

[0108] Improve the lateral control algorithm: On the basis of the existing lateral control algorithm for ground unmanned platforms, introduce the variable of vertical disturbance to improve the algorithm, and achieve lateral control under the condition of vertical disturbance.

[0109] Couple the lateral and vertical control algorithms: Combine the vertical and lateral control algorithms to propose a comprehensive control algorithm for the stability of land-air cross-domain switching, and achieve the stability control of the platform throughout the process of modal switching.

[0110] For the composite mode of ground driving and flight during the cross-domain process, design a nonlinear model control method (Nonlinear Model Predictive Control, NMPC) based on linear model predictive control (MPC): First, discretize the system dynamics model using the forward Euler method to obtain the system discrete-time state equation; secondly, design the objective function for the lateral position, yaw angle, and longitudinal vehicle speed of the platform:

[0111]

[0112] Then design the constraint conditions. The lateral and longitudinal accelerations of the platform are mainly limited by the maximum ground adhesion coefficient; finally, solve the controller to transform the nonlinear control problem into a nonlinear optimal planning problem.

[0113] minJ(x(t), u(t)).

[0114] And on this basis, add a height-loop PID controller for controlling the vertical position:

[0115]

[0116] (3) When F zWhen =0, the land-air amphibious platform exits the cross-domain switching stage of the land-air mode and completely enters the flight stage. At this time, the ground driving mechanism stops working. In this stage, the disturbance of the flight environment on the land-air amphibious platform is mainly considered, and the stability control algorithm of the quadrotor UAV is used to control the flight stage of the land-air amphibious platform. Since the existing control methods of the quadrotor UAV are adopted, this application does not involve the improvement and innovation of this method, so no more specific implementation methods are added.

[0117] The control algorithm of the quadrotor UAV adopts a design architecture of attitude control + position control. The attitude control uses a double-loop cascade PID to perform PID feedback control on the angle loop and the angular velocity loop respectively; the position control also follows the design idea of cascade PID control. The outer loop controls the position and uses proportional (P) control, and the inner loop controls the speed and uses proportional-integral-derivative (PID) control.

[0118] In summary, this application first obtains different types of disturbances suffered by the land-air amphibious platform during the cross-domain switching process and uses it as one of the references to divide the cross-domain stage; then establishes a land-air integrated control model of the land-air amphibious platform, inputs the obtained disturbance as an external input into the land-air integrated control model, causing the land-air integrated control model to get out of control, which is used to simulate the instability of the amphibious platform caused by external environmental factors or cross-domain switching in actual working conditions; finally, corresponding control methods are designed respectively for the out-of-control characteristics of the land-air integrated control model caused by different types of disturbances in different stages, and finally the continuous controllability of the whole cross-domain process of the land-air amphibious platform is realized.

[0119] This application studies the cross-domain mode switching process and stability control problem of the land-air amphibious platform, obtains and analyzes the disturbances suffered by the amphibious platform during the cross-domain switching stage, combines the existing ground unmanned platform and UAV models, and establishes a land-air integrated control model; proposes an innovative control method, improves the traditional mode switching method of static takeoff or hovering descent to a dynamic and continuous switching method, improves the multi-domain maneuverability of the land-air amphibious platform, and solves the problems of rapidity and continuity of the land-air amphibious platform during land-air mode switching.

[0120] That is, this application analyzes the disturbances generated by the external environment and the land-air cross-domain stage on the platform, constructs a land-air integrated control model, improves and innovates on the basis of the existing control algorithm, realizes the dynamic cross-domain switching of the land-air amphibious platform, solves the problems of rapidity and continuity of the land-air amphibious platform's cross-domain mode switching, and improves the multi-domain maneuverability of the platform.

[0121] In an exemplary embodiment, a computer device is provided, which may be a server or a terminal. The computer device includes a processor, a memory, an input / output interface (Input / Output, abbreviated as I / O), and a communication interface. Among them, the processor, the memory, and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, it implements a cross-domain mode switching control method for an amphibious platform.

[0122] Those skilled in the art can understand that the above-described structure is only a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. A specific computer device may include more or fewer components than those shown above, or combine certain components, or have a different component arrangement. In an exemplary embodiment, a computer device is provided, including a memory and a processor. A computer program is stored in the memory, and when the processor executes the computer program, it implements the steps in the above method embodiments.

[0123] In an exemplary embodiment, a computer-readable storage medium is provided, storing a computer program, and when the computer program is executed by a processor, it implements the steps in the above method embodiments.

[0124] In an exemplary embodiment, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, it implements the steps in the above method embodiments.

[0125] In this application, all actions of obtaining signals, information, or data are carried out on the premise of complying with the corresponding data protection regulations and policies of the country where it is located and obtaining the authorization given by the owner of the corresponding device. It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in this application are all information and data that have been authorized by the user or fully authorized by all parties, and the collection, use, and processing of relevant data need to comply with relevant regulations.

[0126] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memories. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0127] The databases involved in the embodiments provided in the present application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., without limitation. The processors involved in the embodiments provided in the present application can be general-purpose processors, central processors, graphics processors, digital signal processors, programmable logics, data processing logics based on quantum computing, etc., without limitation.

[0128] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0129] Specific examples are used in this article to elaborate on the principles and implementation manners of the present application. The descriptions of the above embodiments are only used to help understand the method and its core idea of the present application; at the same time, for those of ordinary skill in the art, according to the idea of the present application, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to the present application.

Claims

1. A cross-domain mode switching control method for an amphibious land-air platform, characterized in that, The cross - domain mode switching control method of the land - air amphibious platform is applied to the land - air amphibious platform; The land - air amphibious platform includes: a ground driving mechanism, a vehicle body, and an aircraft; the method includes: Obtain the disturbance information data of the land - air amphibious platform; the disturbance information data includes: environmental disturbance data and cross - domain disturbance data; Construct an integrated land - air control model; the integrated land - air control model is a dynamic model constructed based on the Newton - Euler equation; Based on the disturbance information data and the integrated land - air control model, perform cross - domain mode recognition to obtain a recognition result; According to the recognition result, adopt a stable control algorithm for composite control to achieve cross - domain control of the land - air amphibious platform.

2. The cross-domain mode switching control method for the land-air amphibious platform according to claim 1, wherein The integrated land - air control model includes: a ground driving mechanism model, a vehicle body model, and an aircraft model; the ground driving mechanism model is used to provide force and torque to the vehicle body model; The dynamic equation corresponding to the vehicle body model is: The dynamic equation corresponding to the aircraft model is: Among them, F x is the force provided by the ground traveling mechanism model on the x-axis of the coordinate system; m is the mass; u is the corresponding velocity on the x-axis of the coordinate system; is the first derivative of u; v is the corresponding velocity on the y-axis of the coordinate system; is the first derivative of v; w is the corresponding velocity on the z-axis of the coordinate system; is the first derivative of w; p is the corresponding angular velocity on the x-axis of the coordinate system; q is the corresponding angular velocity on the y-axis of the coordinate system; r is the corresponding angular velocity on the z-axis of the coordinate system; F y is the force provided by the ground traveling mechanism model on the y-axis of the coordinate system; F z is the force provided by the ground traveling mechanism model on the z-axis of the coordinate system; is the first derivative of p; is the first derivative of q; is the first derivative of r; M x is the torque provided by the ground traveling mechanism model on the x-axis of the coordinate system; M y is the torque provided by the ground traveling mechanism model on the y-axis of the coordinate system; M z is the torque provided by the ground traveling mechanism model on the z-axis of the coordinate system; I xx is the pose information of the vehicle body model on the x-axis of the coordinate system; I yy is the pose information of the vehicle body model on the y-axis of the coordinate system; I zz is the pose information of the vehicle body model on the z-axis of the coordinate system; is the pose information of the aircraft model on the x-axis of the coordinate system; is the pose information of the aircraft model on the y-axis of the coordinate system; is the pose information of the aircraft model on the z-axis of the coordinate system; U1 is the total lift force; φ is the corresponding Euler angle on the x-axis of the coordinate system; θ is the corresponding Euler angle on the y-axis of the coordinate system; ψ is the corresponding Euler angle on the z-axis of the coordinate system; g is the acceleration due to gravity; is the second derivative of φ; U2 is the lift force under the action of M x ; U3 is the lift force under the action of M y ; U4 is the lift force under the action of M z ; J RP is the total moment of inertia of the entire motor rotor and propeller about the body axis; Ω is the sum of the rotational speeds of the quadrotor in the positive and negative rotation directions; is the second derivative of ψ; J RP Ω is the gyroscopic torque generated by the motor rotation; is the second derivative of θ.

3. The cross-domain mode switching control method for the land-air amphibious platform according to claim 1, wherein, Based on the disturbance information data and the integrated land - air control model, perform cross - domain mode recognition to obtain a recognition result, specifically including: Based on the integrated land - air control model, determine the vertical force according to the disturbance information data; the vertical force is the force provided by the ground driving mechanism model on the z - axis of the coordinate system; According to the vertical force and the load data, perform cross - domain mode recognition to obtain a recognition result; the recognition result is: the ground driving stage, the land - air mode cross - domain switching stage, or the flight stage; When F z = mg, the recognition result is the ground driving stage; When 0 < F z <mg, the recognition result is the cross-domain switching stage between land and air modes; When F z is 0, the recognition result is the flight phase; Among them, F z is the force provided by the ground traveling mechanism model on the z-axis of the coordinate system; m is the mass; g is the acceleration due to gravity; and mg is the load data.

4. The cross-domain mode switching control method for the land-air amphibious platform according to claim 3, characterized in that, According to the recognition result, adopt a stable control algorithm for composite control to achieve cross - domain control of the land - air amphibious platform, specifically including: When the recognition result is the ground driving stage, use the PID or sliding mode control method to control the ground driving of the land - air amphibious platform; When the recognition result is the land - air mode cross - domain switching stage, perform land - air composite cross - domain control on the land - air amphibious platform based on a non - linear model; the non - linear model is obtained by discretizing the integrated land - air control model using the forward Euler method; the non - linear model includes: an objective function and constraint conditions; When the recognition result is the flight stage, use the double - loop cascade PID method to perform PID feedback control on the angle loop and the angular velocity loop to achieve flight control.

5. The cross-domain mode switching control method for the land-air amphibious platform according to claim 4, wherein When the recognition result is the land - air mode cross - domain switching stage, perform land - air composite cross - domain control on the land - air amphibious platform based on a non - linear model, specifically including: Solve the objective function using the constraint conditions and perform land - air composite cross - domain control based on the height - loop PID controller for controlling the vertical position.

6. The cross-domain mode switching control method for the land-air amphibious platform according to claim 4, wherein The expression of the objective function is: The expression corresponding to the constraint conditions is: minJ(x(t),u(t)); Among them, J is the objective function; J1 is the objective function of lateral position and yaw angle; J2 is the objective function of lateral position and longitudinal vehicle speed; N p is the prediction step number; i is the sequence number of the prediction step; y e is the error amount of the lateral position; ψ e is the error amount of the yaw angle; u is the output longitudinal speed; u ref is the reference speed; W y is the weight matrix of the lateral error; W ψ is the weight matrix of the yaw angle error; W v is the weight matrix of the longitudinal speed error; y e,k+i|k is the predicted lateral position error amount at the k+i-th moment at the k-th moment; ψ e,k+i|k is the predicted yaw rate error amount at the k+i-th moment at the k-th moment; u k+i|k is the output longitudinal vehicle speed predicted at the k+i-th moment at the k-th moment; is the reference speed at the k+i-th moment; x(t) is the longitudinal position at the t-th moment; u(t) is the longitudinal speed at the t-th moment; t is the running time.

7. The cross-domain mode switching control method for the land-air amphibious platform according to claim 5, characterized in that The control expression corresponding to the height - loop PID controller is: Among them, H ref (t) is the preset reference height; e H (t) is the actual height; is the proportional coefficient of the height loop PID controller; is the integral coefficient of the height loop PID controller; is the differential coefficient of the height loop PID controller; is the first derivative of e H (t).

8. A computer device, comprising: A memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that the processor executes the computer program to implement the cross - domain mode switching control method of the land - air amphibious platform according to any one of claims 1 - 7.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the cross-domain mode switching control method for the amphibious land-air platform described in any one of claims 1-7.

10. A computer program product comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the cross-domain mode switching control method for the amphibious land-air platform described in any one of claims 1-7.

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