Unmanned aerial vehicle control method and device based on fractional order superhelix and electronic equipment

Abstract

The invention discloses an unmanned aerial vehicle control method and device based on fractional order superhelix and electronic equipment. The method comprises the following steps: establishing a dynamic model corresponding to the multi-rotor unmanned aerial vehicle; determining an extended state observer corresponding to the kinetic model; according to the dynamic model, a fractional order super-spiral controller corresponding to the multi-rotor unmanned aerial vehicle is determined, the fractional order super-spiral controller is used for keeping the system state of the multi-rotor unmanned aerial vehicle on a sliding mode surface by adjusting control signal parameters of the multi-rotor unmanned aerial vehicle, and the sliding mode surface is used for defining the expected state of the multi-rotor unmanned aerial vehicle; the fractional order super-spiral controller comprises a non-smooth item, and the non-smooth item is used for smoothing a control signal when a system state approaches a sliding mode surface so as to reduce buffeting of the system state; and constructing a composite controller according to the extended state observer and the fractional order superhelix controller. The technical problem that the control effect on the unmanned aerial vehicle is poor due to the buffeting phenomenon of sliding mode control in the related technology is solved.

Claims

1. A UAV control method based on fractional-order superhelix, characterized in that: include: Establishing a dynamic model corresponding to the multi-rotor UAV, wherein the dynamic model is used to characterize the motion characteristics and force conditions of the multi-rotor UAV during flight; Determining an extended state observer corresponding to the dynamic model, wherein the extended state observer is used to estimate the aggregate disturbance of each position channel of the multi-rotor UAV during flight; Determining a fractional-order super-helical controller corresponding to the multi-rotor drone based on the dynamic model, wherein the fractional-order super-helical controller is used to maintain the system state of the multi-rotor drone on a sliding mode surface by adjusting control signal parameters of the multi-rotor drone, and the sliding mode surface is used to define a desired state of the multi-rotor drone. The fractional-order super-helical controller includes a non-smooth term, and the non-smooth term is used to smooth the control signal when the system state approaches the sliding mode surface to reduce chattering of the system state. A composite controller is constructed based on the extended state observer and the fractional-order super-helical controller, wherein the composite controller is used to control the multi-rotor UAV by combining the disturbance estimation of the extended state observer and the fractional-order super-helical controller.

2. The UAV control method based on fractional-order superhelix according to claim 1, characterized in that: Determining the fractional-order super-helical controller corresponding to the multi-rotor UAV includes: Defining a system tracking error corresponding to each position channel of the multi-rotor UAV, wherein the system tracking error is used to characterize the difference between the actual position state and the expected position state of the UAV; determining a sliding mode function based on the system tracking error, wherein the sliding mode function is a function used to characterize the distance between the system state and the sliding mode surface, and the sliding mode function includes the system tracking error and a derivative of the system tracking error; The fractional-order super-helical controller is determined according to the sliding mode function.

3. The UAV control method based on fractional-order superhelix according to claim 2, characterized in that: On the X-axis channel of the multi-rotor drone, The system tracking error is expressed as follows: Wherein, x is the actual position state, x d is the desired position state, b is the proportional coefficient corresponding to the mass of the multi-rotor drone, u x is the control signal parameter corresponding to the X-axis direction, d is the lumped disturbance of the X-axis channel, e is the system tracking error corresponding to the X-axis, is the first-order derivative of the system tracking error, is the second-order derivative of the tracking error of the system; The sliding mode function is shown below: Wherein, s is the sliding mode function, and c is a constant greater than 0; The fractional-order super-helical controller is shown in the following formula: Among them, |s| 1+2λ sign(s) is the non-smooth term, λ∈(-0.5,0) is a constant, sign(s) is the sign function of s, h, g are adjustable parameters greater than 0, χ is the auxiliary sliding surface, is the integral term, and u2 is the fractional-order superhelical control law.

4. The UAV control method based on fractional-order superhelix according to claim 3, characterized in that: The extended state observer corresponding to the channel of the multi-rotor drone in the X-axis direction is shown as follows: where ξ=[ξ1 ξ2 ξ3] T ,ξ1=x, ξ3=d, is the observation vector, x is the actual position of the UAV, is the estimated value of the lumped disturbance, u x is the control signal parameter corresponding to the X-axis direction, and A, B, C, and Q are the extended state observer gain matrices.

5. The UAV control method based on fractional-order superhelix according to claim 4 is characterized in that: According to the extended state observer and the fractional-order superhelical controller, constructing a composite controller includes: According to the extended state observer and the fractional-order super-helical controller corresponding to each position channel of the multi-rotor UAV, the composite controller corresponding to the position channel is constructed, wherein the composite controller corresponding to the channel in the X-axis direction is shown as follows: Among them, u x is the control signal parameter corresponding to the X-axis direction, b is the proportional coefficient corresponding to the mass of the multi-rotor drone, c is a constant greater than 0, u2 is the fractional-order super-helical control law, x d is the desired position state, and d is the lumped disturbance of the X-axis channel.

6. The UAV control method based on fractional-order superhelix according to claim 1, characterized in that: The multi-rotor UAV includes: a quad-rotor UAV; establishing a dynamic model corresponding to the multi-rotor UAV includes: By analyzing the forces acting on the quadrotor drone in the directions of the three coordinate axes, a translational model of the quadrotor drone is determined, wherein the translational model is used to characterize the linear motion characteristics of the drone in space along the X, Y, and Z axes; By analyzing the torque balance of the quadrotor drone during its rotation, a corresponding rotational torque model of the quadrotor drone is determined, wherein the rotational torque model is used to characterize the rotational motion characteristics of the drone around the X, Y, and Z axes of the body coordinate system; The dynamic model is obtained by merging the translational motion model and the rotational torque model and combining the external disturbance parameters existing during the flight of the quadrotor drone.

7. The UAV control method based on fractional-order superhelix according to claim 6, characterized in that: The dynamic model corresponding to the quadrotor drone is shown in the following formula: Among them, u x ,u y ,u z represents the control input of the UAV in the three coordinate axis directions, k x ,k y ,k z ,k φ ,k θ ,k ψ is the resistance coefficient of each channel, d x ,d y ,d z ,d φ ,d θ ,d ψ is the external disturbance of each channel, b is the proportional coefficient corresponding to the mass of the UAV, τ x For X b Axis torque, τ y For Y b Axis torque, τ z For Z b The moment of the axis, φ is the roll angle, θ is the pitch angle, ψ is the yaw angle, a1, a2, a3 are the dynamic coupling coefficients, b1, b2, b3 are the influence coefficients of attitude dynamics, and L is the distance from the center of mass of the UAV to the rotor axis.

8. A UAV control device based on fractional superhelix, characterized in that: include: A dynamic model establishment module is used to establish a dynamic model corresponding to the multi-rotor UAV, wherein the dynamic model is used to characterize the motion characteristics and force conditions of the multi-rotor UAV during flight; An extended state observer establishment module is used to determine an extended state observer corresponding to the dynamic model, wherein the extended state observer is used to estimate the aggregate disturbance of each position channel of the multi-rotor UAV during flight; a fractional-order super-helix controller establishment module, configured to determine a fractional-order super-helix controller corresponding to the multi-rotor UAV based on the dynamic model, wherein the fractional-order super-helix controller is configured to maintain the system state of the multi-rotor UAV on a sliding mode surface by adjusting control signal parameters of the multi-rotor UAV, wherein the sliding mode surface is configured to define a desired state of the multi-rotor UAV, and wherein the fractional-order super-helix controller includes a non-smooth term, wherein the non-smooth term is configured to smooth the control signal when the system state approaches the sliding mode surface, thereby reducing chattering of the system state; A composite controller establishment module is used to construct a composite controller based on the extended state observer and the fractional-order super-helical controller, wherein the composite controller is used to control the multi-rotor UAV by combining the disturbance estimation of the extended state observer and the fractional-order super-helical controller.

9. An electronic device, characterized in that: include: A memory and a processor, wherein the processor is used to run a program stored in the memory, wherein when the program is run, the fractional-order superhelix-based drone control method according to any one of claims 1 to 7 is executed.

10. A non-volatile storage medium, characterized in that: The non-volatile storage medium includes a stored computer program, wherein the device where the non-volatile storage medium is located executes the fractional-order superhelix-based drone control method according to any one of claims 1 to 7 by running the computer program.

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