High-speed physical anti-unmanned aerial vehicle anti-interference attitude control method, system and device and medium

Abstract

The invention discloses an anti-interference attitude control method, system and device for a high-speed physical anti-unmanned aerial vehicle aircraft and a medium, and relates to the field of unmanned aerial vehicle flight control, and the method comprises the steps: building a state-space equation of the high-speed physical anti-unmanned aerial vehicle aircraft under external disturbance; calculating a sliding mode surface based on the tracking error of the expected attitude angle and the current attitude angle; estimating a disturbance quantity brought by external disturbance based on the sliding mode surface to obtain a disturbance quantity estimated value; determining an attitude control law based on the disturbance quantity estimated value, the sliding mode surface and the state-space equation; and performing attitude control on the high-speed physical anti-unmanned aerial vehicle aircraft based on the attitude control law. The problem that the attitude of the high-speed physical anti-unmanned aerial vehicle aircraft is difficult to keep stable when the high-speed physical anti-unmanned aerial vehicle aircraft is subjected to external disturbances such as airflow disturbance caused by severe weather and a target unmanned aerial vehicle can be solved.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) flight control, and in particular to a method, system, device, and medium for anti-interference attitude control of a high-speed physical anti-UAV aircraft. Background Technology

[0002] During the flight of a high-speed physical anti-drone aircraft, factors such as severe weather, airflow disturbances caused by the target drone, and electromagnetic interference from the drone can cause attitude disturbances in the aircraft, significantly affecting the flight control of the drone.

[0003] Several methods for anti-interference attitude control of UAVs exist, such as PID control and linear quadratic control. PID control is the most widely used method in industry, but it suffers from drawbacks including slow response to system interference, applicability only to small attitude angle changes, and difficulty in effectively handling nonlinear characteristics within the system. Summary of the Invention

[0004] The purpose of this application is to provide a method, system, device and medium for anti-interference attitude control of a high-speed physical anti-drone aircraft, which can solve the problem that the high-speed physical anti-drone aircraft is difficult to maintain attitude stability when subjected to external disturbances such as severe weather and airflow disturbances caused by target drones.

[0005] To achieve the above objectives, this application provides the following solution: In a first aspect, this application provides an anti-jamming attitude control method for a high-speed physical anti-UAV vehicle, including: Establish the state-space equations of a high-speed physical anti-UAV vehicle under external disturbances; The sliding surface is calculated based on the tracking error between the desired attitude angle and the current attitude angle; Based on the sliding surface, the disturbance caused by external disturbances is estimated, and the disturbance estimate is obtained. Based on the estimated disturbance amount, the sliding surface, and the state space equation, the attitude control law is determined; Attitude control of a high-speed physical anti-drone aircraft is performed based on the aforementioned attitude control law.

[0006] Secondly, this application provides a high-speed physical anti-drone aircraft anti-jamming attitude control system, including: The state-space equation construction module is used to establish the state-space equations of a high-speed physical anti-drone vehicle under external disturbances. The sliding surface calculation module is used to calculate the sliding surface based on the tracking error between the desired attitude angle and the current attitude angle; The disturbance estimation module is used to estimate the disturbance caused by external disturbances based on the sliding surface, and obtain the disturbance estimate value; The attitude control law determination module is used to determine the attitude control law based on the disturbance estimate, the sliding surface, and the state space equation. An attitude control module is used to perform attitude control on a high-speed physical anti-drone aircraft based on the attitude control law.

[0007] Thirdly, this application provides a computer device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the above-described high-speed physical anti-drone aircraft anti-interference attitude control method.

[0008] Fourthly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-described high-speed physical anti-drone aircraft anti-interference attitude control method.

[0009] According to the specific embodiments provided in this application, this application has the following technical effects: (1) Based on the disturbance estimate, sliding surface and state space equation, this application determines the attitude control law, which can effectively estimate the impact of the disturbance and perform attitude control on the high-speed physical anti-UAV aircraft, ensuring that the high-speed physical anti-UAV aircraft can maintain attitude stability when there is external disturbance. (2) By designing attitude control laws, the high-speed physical anti-UAV aircraft can recover attitude stability in a short time, which can meet the needs of the high-speed physical anti-UAV aircraft to react quickly under external disturbances. It has high adaptability and can be applied to a variety of mission scenarios. It can also ensure the stable flight of the high-speed physical anti-UAV aircraft when the attitude angle changes greatly. Attached Figure Description

[0010] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0011] Figure 1 This is a flowchart illustrating an anti-interference attitude control method for a high-speed physical anti-drone aircraft, provided as an embodiment of this application. Detailed Implementation

[0012] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0013] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0014] In one exemplary embodiment, such as Figure 1 As shown, a high-speed physical anti-drone aircraft anti-interference attitude control method is provided. The method is executed by computer equipment, specifically by a terminal or server alone, or by both a terminal and a server. In this embodiment, the method is described using a server as an example, including the following steps S1 to S5.

[0015] S1: Establish the state-space equations of a high-speed physical anti-drone aircraft under external disturbances.

[0016] S2: Calculate the sliding surface based on the tracking error between the desired attitude angle and the current attitude angle.

[0017] S3: Based on the sliding surface, estimate the amount of disturbance caused by external disturbances to obtain an estimated value of the disturbance.

[0018] S4: Determine the attitude control law based on the estimated disturbance value, the sliding surface, and the state space equation.

[0019] S5: Perform attitude control on the high-speed physical anti-drone aircraft based on the attitude control law.

[0020] By implementing steps S1 to S5 above, this application achieves rapid and robust attitude stabilization control of a high-speed physical anti-UAV aircraft (hereinafter referred to as the aircraft) under external disturbances (such as airflow and wind disturbances of the target UAV), and effectively overcomes system nonlinearity and model uncertainty, ensuring that the aircraft can still maintain high-precision attitude tracking capability under large attitude angle changes and high-speed interception conditions.

[0021] In a specific embodiment, the expression of the state-space equation established in step S1 is: in, for The first derivative, For the attitude angle variables of high-speed physical anti-drone aircraft, for The first derivative, For the attitude angular velocity variable of the aircraft, and For the structural quantities of the aircraft, For the control variables of the aircraft, The amount of disturbance caused by external disturbances.

[0022] In a specific embodiment, step S2 specifically includes: Design a sliding surface to achieve stable attitude control of the aircraft, assuming the desired attitude angle is... The attitude angle tracking error is Design of sliding surface as follows: in, For sliding surface parameters, For attitude angle tracking error The first derivative.

[0023] In a specific embodiment, step S3 specifically includes: Based on fuzzy logic estimation of disturbances caused by external factors such as severe weather, the fuzzy logic design is as follows: in, This is an estimate of the disturbance. These are fuzzy parameter estimates. is a fuzzy basis function vector.

[0024] There exists an optimal fuzzy parameter. , so that: in, For the fuzzy approximation error, we assume it is bounded, i.e. ,in Indicates the upper bound of the error.

[0025] To update the fuzzy parameter estimates The adaptive law is designed as follows: in, and Design parameters for the adaptive law, and It is a positive definite diagonal matrix. It is a very small positive number.

[0026] In one specific embodiment, step S4 specifically includes: Differentiating the sliding surface with respect to time and substituting it into the state-space equations, we have: For sliding surface The first derivative, For attitude angle tracking error The second derivative of .

[0027] The attitude control law is designed to achieve anti-interference control of the aircraft under attitude disturbances. The expression of the attitude control law is as follows: in, , All are design parameters and meet the requirements. , , It is a conforming function.

[0028] After step S5, the method further includes: constructing a Lyapunov candidate function based on the Lyapunov stability theory, and substituting the derivative of the Lyapunov candidate function into the attitude control law to prove that the attitude error eventually converges by bounds.

[0029] The Lyapunov candidate function is designed as follows: in, For Lyapunov candidate functions, It is a fuzzy parameter estimate. The estimation error, for The first derivative.

[0030] Taking the derivative of the above equation with respect to time, we get: for The first derivative.

[0031] Will Substituting the expression for the attitude control law into the above equation, we get: According to Young's inequality: Therefore, the above formula can be transformed into: Select design parameters Then the above formula can be further reduced to: There are positive numbers This transforms the above equation into: Therefore, according to Lyapunov's stability theory, it can be proved that the attitude error will converge to a small neighborhood near the origin, that is, the system is stable.

[0032] The method provided in this application has significant advantages over the prior art: First, this application effectively estimates the impact of disturbances by combining fuzzy logic with sliding mode control, and performs attitude control on the aircraft to ensure that it maintains attitude stability when affected by external factors. Furthermore, the Lyapunov stability criterion is used to effectively demonstrate the validity of this application.

[0033] Secondly, this application has high adaptability and can be applied to various mission scenarios. By designing attitude control laws, the aircraft can recover attitude stability in a short time, which can meet the requirement of rapid response of the aircraft under disturbance conditions.

[0034] Compared with traditional control methods, this application demonstrates superior performance and can ensure stable flight of the aircraft even when the attitude angle changes significantly.

[0035] Based on the same inventive concept, this application also provides a system for implementing the aforementioned high-speed physical anti-drone aircraft anti-jamming attitude control method. The solution provided by this system is similar to the implementation described in the above method. Therefore, the specific limitations of one or more embodiments of the high-speed physical anti-drone aircraft anti-jamming attitude control system provided below can be found in the limitations of the high-speed physical anti-drone aircraft anti-jamming attitude control method described above, and will not be repeated here.

[0036] In one exemplary embodiment, a high-speed physical anti-drone aircraft anti-jamming attitude control system is provided, including the following modules.

[0037] The state-space equation construction module is used to establish the state-space equations of a high-speed physical anti-drone aircraft under external disturbances.

[0038] The sliding surface calculation module is used to calculate the sliding surface based on the tracking error between the desired attitude angle and the current attitude angle.

[0039] The disturbance estimation module is used to estimate the disturbance caused by external disturbances based on the sliding surface, and obtain the disturbance estimate value.

[0040] The attitude control law determination module is used to determine the attitude control law based on the disturbance estimate, the sliding surface, and the state space equation.

[0041] An attitude control module is used to perform attitude control on a high-speed physical anti-drone aircraft based on the attitude control law.

[0042] In an exemplary embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments. The computer device may be a server or a terminal. The computer device includes a processor, a memory, an input / output interface (I / O), and a communication interface. The processor, memory, and I / O are connected via a system bus, and the communication interface is connected to the system bus via the I / O interface. The processor of the computer device provides computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and 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 computer program in the non-volatile storage medium. The database of the computer device stores data to be processed. The I / O interface of the computer device is used for exchanging information between the processor and external devices. The communication interface of the computer device is used for communicating with an external terminal via a network connection. When the computer program is executed by the processor, it implements the steps in the above-described method embodiments.

[0043] In one exemplary embodiment, a computer-readable storage medium is provided storing a computer program that, when executed by a processor, implements the steps in the above-described method embodiments.

[0044] 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 used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0045] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. 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), magnetic 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 take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM).

[0046] The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0047] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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, they should be considered to be within the scope of this specification.

[0048] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A method for anti-interference attitude control of a high-speed physical anti-UAV aircraft, characterized in that, include: Establish the state-space equations of a high-speed physical anti-UAV vehicle under external disturbances; The sliding surface is calculated based on the tracking error between the desired attitude angle and the current attitude angle; Based on the sliding surface, the disturbance caused by external disturbances is estimated, and the disturbance estimate is obtained. Based on the estimated disturbance amount, the sliding surface, and the state space equation, the attitude control law is determined; Attitude control of a high-speed physical anti-drone aircraft is performed based on the aforementioned attitude control law.

2. The anti-interference attitude control method for high-speed physical anti-UAV aircraft according to claim 1, characterized in that, The expression for the state-space equation is: in, for The first derivative, For the attitude angle variables of high-speed physical anti-drone aircraft, for The first derivative, For the attitude angular velocity variable of the high-speed physical anti-drone aircraft, and For the structural quantities of high-speed physical anti-drone aircraft, For the control variables of high-speed physical anti-drone aircraft. The amount of disturbance caused by external disturbances.

3. The anti-interference attitude control method for high-speed physical anti-UAV aircraft according to claim 1, characterized in that, The formula for calculating the sliding surface is: in, For sliding surface, For sliding surface parameters, For attitude angle tracking error The first derivative, For the attitude angle variables of high-speed physical anti-drone aircraft, The desired attitude angle.

4. The anti-interference attitude control method for high-speed physical anti-UAV aircraft according to claim 1, characterized in that, The formula for calculating the estimated disturbance is as follows: in, This is an estimate of the disturbance. These are fuzzy parameter estimates. For fuzzy basis function vectors, for The first derivative, For matrix transpose, and Design parameters for the adaptive law. It is a sliding surface.

5. The anti-interference attitude control method for high-speed physical anti-UAV aircraft according to claim 1, characterized in that, The expression for the attitude control law is: in, For the control variables of high-speed physical anti-drone aircraft. and For the structural quantities of high-speed physical anti-drone aircraft, This is an estimate of the disturbance. For sliding surface parameters, For attitude angle tracking error The first derivative, and These are all design parameters. For sliding surface, It is a conforming function.

6. The anti-interference attitude control method for high-speed physical anti-UAV aircraft according to claim 1, characterized in that, Also includes: Based on Lyapunov stability theory, a Lyapunov candidate function is constructed. The derivative of the Lyapunov candidate function is then substituted into the attitude control law, proving that the attitude error eventually converges by bounds.

7. The anti-interference attitude control method for high-speed physical anti-UAV aircraft according to claim 6, characterized in that, The expression for the Lyapunov candidate function is: in, For Lyapunov candidate functions, For sliding surface, For fuzzy parameter estimates The estimation error, for The first derivative, For matrix transpose, Design parameters for the adaptive law.

8. A high-speed physical anti-drone aircraft anti-interference attitude control system, characterized in that, include: The state-space equation construction module is used to establish the state-space equations of a high-speed physical anti-drone vehicle under external disturbances. The sliding surface calculation module is used to calculate the sliding surface based on the tracking error between the desired attitude angle and the current attitude angle; The disturbance estimation module is used to estimate the disturbance caused by external disturbances based on the sliding surface, and obtain the disturbance estimate value; The attitude control law determination module is used to determine the attitude control law based on the disturbance estimate, the sliding surface, and the state space equation. An attitude control module is used to perform attitude control on a high-speed physical anti-drone aircraft based on the attitude control law.

9. A computer device, comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that the processor executes the computer program to implement the high-speed physical anti-drone aircraft anti-jamming attitude control method according to any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the anti-interference attitude control method for high-speed physical anti-UAV aircraft as described in any one of claims 1-7.

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