Sub-aircraft landing control method of sub-mother type unmanned aerial vehicle based on active-disturbance-rejection controller

Abstract

The invention provides a child aircraft landing control method of a child-mother type unmanned aerial vehicle based on an active-disturbance-rejection controller. The method comprises the steps that the expected position of the child aircraft at the next moment is acquired from the flight path of the child aircraft; the expected position of the sub-machine at the next moment and the simulation position of the sub-machine at the current moment are processed through three position active disturbance rejection controllers, and the acceleration of the sub-machine at the next moment is obtained; determining an expected roll angle and an expected pitch angle of the sub-aircraft at the next moment based on the acceleration of the sub-aircraft at the next moment; processing the expected attitude angle of the sub-machine at the next moment and the simulated attitude angle of the sub-machine at the current moment by using three attitude active disturbance rejection controllers to obtain an attitude torque correction signal; mapping the attitude torque correction signal into control signals of four motors of a sub-machine based on a motor mixed control logic model; and determining a simulation position and a simulation attitude angle of the sub-machine at the next moment based on the control signals of the four motors of the sub-machine and the dynamical model. According to the invention, the flight path simulation accuracy of the sub-aircraft is improved.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) trajectory tracking and control technology, and in particular to a method for controlling the landing of a slave UAV based on an active disturbance rejection controller (ADRC). Background Technology

[0002] In the development of mother-daughter UAVs, it is necessary to simulate the landing of the daughter unit in the air to test the performance of the UAV.

[0003] In existing quadcopter UAV trajectory tracking control technology, a trajectory tracking control model based on PID controllers is usually adopted. Although PID controllers have advantages such as simple structure and convenient parameter tuning, they have problems such as insufficient anti-interference ability and difficulty in balancing fast response and overshoot, and cannot effectively guarantee the control stability and trajectory tracking accuracy of the UAV during landing. Summary of the Invention

[0004] In view of this, this application provides a method for controlling the landing of a slave drone in a mother-daughter unmanned aerial vehicle based on an active disturbance rejection controller, in order to solve the above-mentioned technical problems.

[0005] In a first aspect, embodiments of this application provide a method for controlling the landing of a slave drone in a mother-daughter unmanned aerial vehicle (UAV) based on an active disturbance rejection controller, comprising: Obtain the desired position of the sub-machine at the next moment from the pre-planned flight trajectory of the sub-machine, and set the desired yaw angle of the sub-machine at the next moment; The desired position of the slave unit at the next moment and the simulated position at the current moment are processed by three position active disturbance rejection controllers to obtain the acceleration of the slave unit at the next moment; Based on the acceleration of the slave unit at the next moment, determine the expected roll angle and expected pitch angle of the slave unit at the next moment; Three attitude active disturbance rejection controllers are used to process the desired attitude angle of the slave unit at the next moment and the simulated attitude angle at the current moment to obtain the attitude torque correction signal; the desired attitude angle includes: desired roll angle, desired pitch angle and desired yaw angle; Based on the motor hybrid control logic model, the attitude torque correction signal is mapped to the control signals of the four motors of the slave unit; Based on the control signals and dynamic model of the four motors of the submachine, the simulated position and simulated attitude angle of the submachine at the next moment are determined.

[0006] In one possible implementation, the method further includes: Obtain the starting position of the slave unit and the position of the hovering master unit; use the position of the hovering master unit as the target position of the slave unit; The flight trajectory of the sub-aircraft is planned based on its starting and target positions.

[0007] In one possible implementation, the three position active disturbance rejection controllers include: a first position active disturbance rejection controller, a second position active disturbance rejection controller, and a third position active disturbance rejection controller; Three position active disturbance rejection controllers are used to process the slave unit's desired position at the next moment and its simulated position at the current moment to obtain the slave unit's acceleration at the next moment, including: Calculate the differences between the three components of the expected position of the submachine at the next moment and the simulated position at the current moment: in, For the next moment of the submachine The expected position For the current moment of the slave machine The simulated position, for Difference in position of direction; for Difference in position of direction; for Difference in position of direction; Using the first position active disturbance rejection controller to Processing is performed to obtain the next moment of the slave machine. Components of acceleration in the direction ; Using the second position active disturbance rejection controller to Processing is performed to obtain the next moment of the slave machine. Components of acceleration in the direction ; Using a third-position active disturbance rejection controller to Processing is performed to obtain the next moment of the slave machine. Components of acceleration in the direction .

[0008] In one possible implementation, the desired roll angle and desired pitch angle of the slave machine at the next moment are determined based on the acceleration of the slave machine at the next moment; including: Lift of the computer in the next moment : in, For the quality of the submachine, It is the acceleration due to gravity; Based on the lift of the submachine gun at the next moment Next moment of the computer Expected roll angle and desired pitch angle : in, For the pre-set next moment of the slave machine The expected yaw angle, .

[0009] In one possible implementation, the three attitude active disturbance rejection controllers include: a first attitude active disturbance rejection controller, a second attitude active disturbance rejection controller, and a third attitude active disturbance rejection controller; Three attitude active disturbance rejection controllers are used to process the slave unit's desired attitude angle at the next moment and the simulated attitude angle at the current moment to obtain the attitude torque correction signal; including: Calculate the differences between the three components of the desired attitude angle at the next moment and the simulated attitude angle at the current moment: in, For the next moment of the submachine The desired attitude angle, For the current moment of the slave machine The simulated attitude angle, The difference in roll angle; The difference in pitch angle; The difference in yaw angle; Using the first attitude active disturbance rejection controller to The signal is processed to obtain the rolling torque correction signal of the slave unit at the next moment. ; Using the second attitude active disturbance rejection controller to The signal is processed to obtain the pitch moment correction signal for the slave unit at the next moment. ; Using a third attitude active disturbance rejection controller to The signal is processed to obtain the yaw moment correction signal of the slave unit at the next moment. .

[0010] In one possible implementation, based on a motor hybrid control logic model, the attitude torque correction signal is mapped to control signals for the four motors of the slave unit; including: Control signals for the motors of the four rotors of the submachine gun for: in, For the lift of the submachine gun in the next moment The corresponding main throttle base control signal for the motor.

[0011] In one possible implementation, based on the control signals and dynamic model of the four motors of the slave machine, the simulated position and simulated attitude angle of the slave machine at the next moment are determined, including: in, This is the motor lift coefficient. Total lift; d This is the distance from the center of the four motors to the center of gravity of the submachine machine; , and For the roll moment, pitch moment and yaw moment of the submachine gun; This is the motor's reverse torque coefficient. It is a linear combination of the speeds of the four motors; , and These are the moments of inertia of the submachine about the x, y, and z axes of the machine body coordinate system, respectively. The moment of inertia of a single motor rotor; , and The simulated acceleration of the submachine along the x, y, and z axes of the inertial frame at the next instant; , and The angular accelerations of the submachine gun about the x, y, and z axes of the inertial frame; right , , , and By performing double integration, the simulated position of the slave machine at the next time step can be obtained. and simulated attitude angle .

[0012] Secondly, embodiments of this application provide a daughter aircraft landing control device for a mother-daughter unmanned aerial vehicle based on an active disturbance rejection controller, comprising: The acquisition unit is used to acquire the expected position of the sub-machine at the next moment from the pre-planned flight trajectory of the sub-machine, and set the expected yaw angle of the sub-machine at the next moment; The first processing unit is used to process the expected position of the slave machine at the next moment and the simulated position at the current moment using three position active disturbance rejection controllers to obtain the acceleration of the slave machine at the next moment. The first determining unit is used to determine the desired roll angle and desired pitch angle of the submachine at the next moment based on the acceleration of the submachine at the next moment. The second processing unit is used to process the desired attitude angle of the slave unit at the next moment and the simulated attitude angle at the current moment using three attitude active disturbance rejection controllers to obtain the attitude torque correction signal; the desired attitude angle includes: desired roll angle, desired pitch angle and desired yaw angle. The mapping unit is used to map the attitude torque correction signal into the control signals of the four motors of the slave unit based on the motor hybrid control logic model. The second determining unit is used to determine the simulated position and simulated attitude angle of the submachine at the next moment based on the control signals and dynamic model of the four motors of the submachine.

[0013] Thirdly, embodiments of this application provide an electronic 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 method of embodiments of this application.

[0014] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer instructions that, when executed by a processor, implement the method of embodiments of this application.

[0015] This application improves the accuracy of the simulated flight trajectory of the submachine gun. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 A flowchart of a daughter drone landing control method based on an active disturbance rejection controller provided in an embodiment of this application; Figure 2 A schematic diagram of an active disturbance rejection controller provided in an embodiment of this application; Figure 3 Functional structure diagram of the daughter landing control device of the mother-daughter UAV based on the active disturbance rejection controller provided in the embodiments of this application; Figure 4 A functional structure diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, 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. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0019] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0020] First, a brief introduction to the design concept of the embodiments of this application will be given.

[0021] Rotary-wing drones can take off and land vertically and are highly maneuverable, showing great promise in applications such as inspection and monitoring, disaster relief, and resource exploration. Small drones can operate in confined spaces and are highly maneuverable, but their endurance is limited; large drones have long endurance and high payload capacity, but cannot operate in confined spaces and are less maneuverable. A mother-daughter drone system, using a large drone as the mother unit and small drones as daughter units, combines the advantages of both systems. The mother unit acts as an aerial platform carrying the daughter units, expanding their operational range and endurance, achieving a complementary advantage and possessing broad application prospects.

[0022] The key to coordinated operations of mother-daughter UAV systems is achieving the landing of the daughter UAV while hovering in the air on the mother UAV platform. However, due to the strong downwash airflow below the rotor and the hemispherical low-pressure area above the rotor of rotary-wing UAVs, complex flow field coupling and aerodynamic interference are generated when the mother and daughter UAVs approach each other, affecting the position accuracy and attitude stability of both systems. Therefore, the aerial landing trajectory tracking and control task of the daughter UAV faces the challenge of ensuring control accuracy under interference and maintaining stability against disturbances.

[0023] In addition to the effects of aerodynamic interference, quadcopter drones are characterized by underactuation, strong coupling, and high nonlinearity, making them susceptible to internal and external uncertainties. Therefore, accurate and stable trajectory tracking control becomes a challenge.

[0024] In this application, the attitude controller in the inner loop and the position controller in the outer loop of the control system of the slave unit both adopt active disturbance rejection controllers, which can realize accurate trajectory tracking and disturbance rejection stability control under aerodynamic interference between the mother and slave units. This enables the slave unit to achieve stable and accurate landing trajectory tracking control when the mother unit of the mother UAV is hovering in the air, thereby improving the accuracy of the simulated flight trajectory of the slave unit.

[0025] After introducing the application scenarios and design concepts of the embodiments of this application, the technical solutions provided by the embodiments of this application will be described below.

[0026] like Figure 1 As shown in the figure, this application provides a method for controlling the landing of a slave drone in a mother-daughter unmanned aerial vehicle (UAV) based on an active disturbance rejection controller, including the following steps: Step 101: Obtain the desired position of the submachine gun at the next moment from the pre-planned flight trajectory of the submachine gun, and set the desired yaw angle of the submachine gun at the next moment; Step 102: Use three position active disturbance rejection controllers to process the expected position of the slave machine at the next moment and the simulated position at the current moment to obtain the acceleration of the slave machine at the next moment; Step 103: Based on the acceleration of the slave unit at the next moment, determine the desired roll angle and desired pitch angle of the slave unit at the next moment; Step 104: Use three attitude active disturbance rejection controllers to process the desired attitude angle of the slave unit at the next moment and the simulated attitude angle at the current moment to obtain the attitude torque correction signal; the desired attitude angle includes: desired roll angle, desired pitch angle and desired yaw angle; Step 105: Based on the motor hybrid control logic model, map the attitude torque correction signal to the control signals of the four motors of the slave unit; Step 106: Based on the control signals and dynamic model of the four motors of the submachine, determine the simulated position and simulated attitude angle of the submachine at the next moment.

[0027] In some embodiments, the method further includes: Obtain the starting position of the slave unit and the position of the hovering master unit; use the position of the hovering master unit as the target position of the slave unit; Based on the starting and target positions of the sub-aircraft, the flight trajectory of the sub-aircraft is planned; Based on the set time interval, the planned flight trajectory of the sub-machine is discretized.

[0028] In some embodiments, the three location active disturbance rejection controllers include: a first location active disturbance rejection controller, a second location active disturbance rejection controller, and a third location active disturbance rejection controller; Three position active disturbance rejection controllers are used to process the slave unit's desired position at the next moment and its simulated position at the current moment to obtain the slave unit's acceleration at the next moment, including: Calculate the differences between the three components of the expected position of the submachine at the next moment and the simulated position at the current moment: in, For the next moment of the submachine The expected position For the current moment of the slave machine The simulated position, for Difference in position of direction; for Difference in position of direction; for Difference in position of direction; Using the first position active disturbance rejection controller to Processing is performed to obtain the next moment of the slave machine. Components of acceleration in the direction ; Using the second position active disturbance rejection controller to Processing is performed to obtain the next moment of the slave machine. Components of acceleration in the direction ; Using a third-position active disturbance rejection controller to Processing is performed to obtain the next moment of the slave machine. Components of acceleration in the direction .

[0029] In some embodiments, the desired roll angle and desired pitch angle of the slave unit at the next moment are determined based on the acceleration of the slave unit at the next moment; including: Lift of the computer in the next moment : in, For the quality of the submachine, It is the acceleration due to gravity; Based on the lift of the submachine gun at the next moment Next moment of the computer Expected roll angle and desired pitch angle : in, For the pre-set next moment of the slave machine The expected yaw angle, .

[0030] In some embodiments, the three attitude active disturbance rejection controllers include: a first attitude active disturbance rejection controller, a second attitude active disturbance rejection controller, and a third attitude active disturbance rejection controller; Three attitude active disturbance rejection controllers are used to process the slave unit's desired attitude angle at the next moment and the simulated attitude angle at the current moment to obtain the attitude torque correction signal; including: Calculate the differences between the three components of the desired attitude angle at the next moment and the simulated attitude angle at the current moment: in, For the next moment of the submachine The desired attitude angle, For the current moment of the slave machine The simulated attitude angle, The difference in roll angle; The difference in pitch angle; The difference in yaw angle; Using the first attitude active disturbance rejection controller to The signal is processed to obtain the rolling torque correction signal of the slave unit at the next moment. ; Using the second attitude active disturbance rejection controller to The signal is processed to obtain the pitch moment correction signal for the slave unit at the next moment. ; Using a third attitude active disturbance rejection controller to The signal is processed to obtain the yaw moment correction signal of the slave unit at the next moment. .

[0031] In some embodiments, based on the motor hybrid control logic model, the attitude torque correction signal is mapped to the control signals of the four motors of the slave unit; including: Control signals for the motors of the four rotors of the submachine gun for: in, For the lift of the submachine gun in the next moment The corresponding main throttle base control signal for the motor.

[0032] In some embodiments, based on the control signals and dynamic model of the four motors of the slave unit, the simulated position and simulated attitude angle of the slave unit at the next moment are determined, including: in, This is the motor lift coefficient. Total lift; d This is the distance from the center of the four motors to the center of gravity of the submachine machine; , and For the roll moment, pitch moment and yaw moment of the submachine gun; This is the motor's reverse torque coefficient. It is a linear combination of the speeds of the four motors; , and These are the moments of inertia of the submachine about the x, y, and z axes of the machine body coordinate system, respectively. The moment of inertia of a single motor rotor; , and The simulated acceleration of the submachine along the x, y, and z axes of the inertial frame at the next instant; , and The angular accelerations of the submachine gun about the x, y, and z axes of the inertial frame; right , , , and By performing double integration, the simulated position of the slave machine at the next time step can be obtained. and simulated attitude angle .

[0033] In this embodiment, the dynamic model of the submachine is constructed based on the Newton-Euler equations.

[0034] like Figure 2 As shown, the Active Disturbance Rejection Controller (ADRC) consists of three parts: a tracking differentiator (TD), a nonlinear state error feedback control law (NLSEF), and an extended observer (ESO). It achieves robust control of uncertain objects by estimating and compensating for internal and external disturbances in real time.

[0035] The tracking differentiator (TD) decomposes the input signal and extracts its differential signal, which is used to arrange the transient response and resolve the conflict between the need for fast response and overshoot suppression. The decomposition calculation is as follows: in, Here, k represents the filter factor, and k represents the discrete time step. Let r represent the desired input signal at discrete time step k, and r represent the tracking speed factor. The tracking signal is at discrete time k. Let k be the differential signal at discrete time k. The fastest control synthesis function is expressed as follows: in, For boundary layer parameters, For the error threshold, For predicted values, To expand the state variables, For the comprehensive error term: It is a symbolic function; Extended State Observer (ESO) is used to estimate internal model uncertainties, external disturbances, and noise in a system. It expands the total system disturbance into new state variables for real-time observation, and achieves state tracking and disturbance compensation through observer gain. The internal model of a third-order nonlinear ESO is shown below: in, This is the disturbance compensation coefficient; , , For the observed values ​​of the state variables, To output the estimated error value; , and It is a non-linear exponent; To control the input signal; For linear interval thresholds; , and For observer gain; The function's expression is shown below: in, is the length of the linear segment interval.

[0036] Nonlinear state error feedback (NLSEF) calculates the control law in the form of a nonlinear combination, utilizing nonlinear functions. The function calculates control inputs based on ESO feedback state information, improving dynamic performance; NLSEF output signal for: in, , ; and These are the controller parameters.

[0037] Based on the above embodiments, this application provides a daughter drone landing control device for a mother-daughter UAV based on an active disturbance rejection controller, see reference. Figure 3As shown, the slave landing control device 200 of the mother-daughter UAV based on an active disturbance rejection controller provided in this application embodiment includes at least: The acquisition unit 201 is used to acquire the expected position of the submachine at the next moment from the pre-planned flight trajectory of the submachine, and set the expected yaw angle of the submachine at the next moment; The first processing unit 202 is used to process the expected position of the slave machine at the next moment and the simulated position at the current moment using three position active disturbance rejection controllers to obtain the acceleration of the slave machine at the next moment. The first determining unit 203 is used to determine the desired roll angle and desired pitch angle of the submachine at the next moment based on the acceleration of the submachine at the next moment. The second processing unit 204 is used to process the expected attitude angle of the slave unit at the next moment and the simulated attitude angle at the current moment using three attitude active disturbance rejection controllers to obtain the attitude torque correction signal; the expected attitude angle includes: expected roll angle, expected pitch angle and expected yaw angle. The mapping unit 205 is used to map the attitude torque correction signal into the control signals of the four motors of the slave machine based on the motor hybrid control logic model. The second determining unit 206 is used to determine the simulated position and simulated attitude angle of the submachine at the next moment based on the control signals and dynamic model of the four motors of the submachine.

[0038] It should be noted that the principle of the slave landing control device 200 for a mother-daughter UAV based on an active disturbance rejection controller provided in this application embodiment to solve the technical problem is similar to the method provided in this application embodiment. Therefore, the implementation of the slave landing control device 200 for a mother-daughter UAV based on an active disturbance rejection controller provided in this application embodiment can refer to the implementation of the method provided in this application embodiment, and the repeated parts will not be described again.

[0039] Based on the above embodiments, this application also provides an electronic device, see below. Figure 4 As shown, the electronic device 300 provided in this application embodiment includes at least: a processor 301, a memory 302, and a computer program stored in the memory 302 and executable on the processor 301. When the processor 301 executes the computer program, it implements the daughter drone landing control method based on an active disturbance rejection controller provided in this application embodiment.

[0040] The electronic device 300 provided in this application embodiment may further include a bus 303 connecting different components (including processor 301 and memory 302). The bus 303 represents one or more types of bus structures, including memory bus, peripheral bus, local area bus, etc.

[0041] The memory 302 may include a readable medium in the form of volatile memory, such as random access memory (RAM) 3021 and / or cache memory 3022, and may further include read-only memory (ROM) 3023.

[0042] The memory 302 may also include a program tool 3025 having a set (at least one) of program modules 3024, including but not limited to: an operating subsystem, one or more application programs, other program modules, and program data, each or some combination of these examples may include an implementation of a network environment.

[0043] Electronic device 300 can also communicate with one or more external devices 304 (e.g., keyboard, remote control, etc.), and with one or more devices that enable a user to interact with electronic device 300 (e.g., mobile phone, computer, etc.), and / or with any device that enables electronic device 300 to communicate with one or more other electronic devices 300 (e.g., router, modem, etc.). This communication can be performed through input / output (I / O) interface 305. Furthermore, electronic device 300 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) through network adapter 306. Figure 4 As shown, network adapter 306 communicates with other modules of electronic device 300 via bus 303. It should be understood that, although... Figure 4 As not shown, other hardware and / or software modules may be used in conjunction with electronic device 300, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, Redundant Arrays of Independent Disks (RAID) subsystems, tape drives, and data backup storage subsystems.

[0044] It should be noted that, Figure 4 The electronic device 300 shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0045] This application also provides a computer-readable storage medium storing computer instructions. When executed by a processor, these instructions implement the slave drone landing control method based on an active disturbance rejection controller (ADRC) for a mother-daughter UAV provided in this application. Specifically, the executable program can be built into or installed in an electronic device 300, allowing the electronic device 300 to implement the slave drone landing control method based on an ADRC provided in this application by executing the built-in or installed executable program.

[0046] The daughter drone landing control method based on an active disturbance rejection controller provided in this application embodiment can also be implemented as a program product. The program product includes program code. When the program product can run on the electronic device 300, the program code is used to make the electronic device 300 execute the daughter drone landing control method based on an active disturbance rejection controller provided in this application embodiment.

[0047] The program product provided in this application embodiment can be any combination of one or more readable media, wherein the readable media can be a readable signal medium or a readable storage medium, and the readable storage medium can be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or apparatus, or any combination thereof. Specifically, more specific examples of readable storage media (a non-exhaustive list) include: electrical connections with one or more wires, portable disks, hard disks, RAM, ROM, erasable programmable read-only memory (EPROM), optical fibers, portable compact disc read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0048] The program product provided in this application embodiment can be a CD-ROM and include program code, and can also run on a computing device. However, the program product provided in this application embodiment is not limited thereto. In this application embodiment, the readable storage medium can be any tangible medium that contains or stores a program, which can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0049] It should be noted that although several units or sub-units of the device have been mentioned in the detailed description above, this division is merely exemplary and not mandatory. In fact, according to embodiments of this application, the features and functions of two or more units described above can be embodied in one unit. Conversely, the features and functions of one unit described above can be further divided and embodied by multiple units.

[0050] Furthermore, although the operations of the method of this application are described in a specific order in the accompanying drawings, this does not require or imply that these operations must be performed in that specific order, or that all the operations shown must be performed to achieve the desired result. Additionally or alternatively, certain steps may be omitted, multiple steps may be combined into one step, and / or one step may be broken down into multiple steps.

[0051] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of disclosure in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.

[0052] Furthermore, while the operations are described in a specific order, this should not be construed as requiring these operations to be performed in the specific order shown or in a sequential order. Multitasking and parallel processing may be advantageous in certain environments. Similarly, while several specific implementation details are included in the above discussion, these should not be construed as limiting the scope of this application. Certain features described in the context of individual embodiments may also be implemented in combination in a single embodiment. Conversely, various features described in the context of a single embodiment may also be implemented individually or in any suitable sub-combination in multiple embodiments.

Claims

1. A method for controlling the landing of a slave unit in a mother-daughter unmanned aerial vehicle (UAV) based on an active disturbance rejection controller, characterized in that, include: Obtain the desired position of the sub-machine at the next moment from the pre-planned flight trajectory of the sub-machine, and set the desired yaw angle of the sub-machine at the next moment; The desired position of the slave unit at the next moment and the simulated position at the current moment are processed by three position active disturbance rejection controllers to obtain the acceleration of the slave unit at the next moment; Based on the acceleration of the slave unit at the next moment, determine the expected roll angle and expected pitch angle of the slave unit at the next moment; Three attitude active disturbance rejection controllers are used to process the desired attitude angle of the slave unit at the next moment and the simulated attitude angle at the current moment to obtain the attitude torque correction signal; the desired attitude angle includes: desired roll angle, desired pitch angle and desired yaw angle; Based on the motor hybrid control logic model, the attitude torque correction signal is mapped to the control signals of the four motors of the slave unit; Based on the control signals and dynamic model of the four motors of the submachine, the simulated position and simulated attitude angle of the submachine at the next moment are determined.

2. The method according to claim 1, characterized in that, The method further includes: Obtain the starting position of the slave unit and the position of the hovering master unit; use the position of the hovering master unit as the target position of the slave unit; The flight trajectory of the sub-aircraft is planned based on its starting and target positions.

3. The method according to claim 1, characterized in that, The three position active disturbance rejection controllers include: a first position active disturbance rejection controller, a second position active disturbance rejection controller, and a third position active disturbance rejection controller; Three position active disturbance rejection controllers are used to process the slave unit's desired position at the next moment and its simulated position at the current moment to obtain the slave unit's acceleration at the next moment, including: Calculate the differences between the three components of the expected position of the submachine at the next moment and the simulated position at the current moment: in, For the next moment of the submachine The expected position For the current moment of the slave machine The simulated position, for Difference in position of direction; for Difference in position of direction; for Difference in position of direction; Using the first position active disturbance rejection controller to Processing is performed to obtain the next moment of the slave machine. Components of acceleration in the direction ; Using the second position active disturbance rejection controller to Processing is performed to obtain the next moment of the slave machine. Components of acceleration in the direction ; Using a third-position active disturbance rejection controller to Processing is performed to obtain the next moment of the slave machine. Components of acceleration in the direction .

4. The method according to claim 3, characterized in that, Based on the submachine's acceleration at the next moment, determine the submachine's desired roll angle and desired pitch angle at the next moment; including: Lift of the computer in the next moment : in, For the quality of the submachine, It is the acceleration due to gravity; Based on the lift of the submachine gun at the next moment Next moment of the computer Expected roll angle and desired pitch angle : in, For the pre-set next moment of the slave machine The expected yaw angle, .

5. The method according to claim 3, characterized in that, The three attitude active disturbance rejection controllers include: a first attitude active disturbance rejection controller, a second attitude active disturbance rejection controller, and a third attitude active disturbance rejection controller; Three attitude active disturbance rejection controllers are used to process the slave unit's desired attitude angle at the next moment and the simulated attitude angle at the current moment to obtain the attitude torque correction signal; including: Calculate the differences between the three components of the desired attitude angle at the next moment and the simulated attitude angle at the current moment: in, For the next moment of the submachine The desired attitude angle, For the current moment of the slave machine The simulated attitude angle, The difference in roll angle; The difference in pitch angle; The difference in yaw angle; Using the first attitude active disturbance rejection controller to The signal is processed to obtain the rolling torque correction signal of the slave unit at the next moment. ; Using the second attitude active disturbance rejection controller to The signal is processed to obtain the pitch moment correction signal for the slave unit at the next moment. ; Using a third attitude active disturbance rejection controller to The signal is processed to obtain the yaw moment correction signal of the slave unit at the next moment. .

6. The method according to claim 5, characterized in that, Based on the motor hybrid control logic model, the attitude torque correction signal is mapped to the control signals of the four motors of the slave unit; including: Control signals for the motors of the four rotors of the submachine gun for: in, For the lift of the submachine gun in the next moment The corresponding main throttle base control signal for the motor.

7. The method according to claim 6, characterized in that, Based on the control signals and dynamic model of the four motors of the slave unit, the simulated position and simulated attitude angle of the slave unit at the next moment are determined, including: in, This is the motor lift coefficient. Total lift; d This is the distance from the center of the four motors to the center of gravity of the submachine machine; , and For the roll moment, pitch moment and yaw moment of the submachine gun; This is the motor's reverse torque coefficient. It is a linear combination of the speeds of the four motors; , and These are the moments of inertia of the submachine about the x, y, and z axes of the machine body coordinate system, respectively. The moment of inertia of a single motor rotor; , and The simulated acceleration of the submachine along the x, y, and z axes of the inertial frame at the next instant; , and The angular accelerations of the submachine gun about the x, y, and z axes of the inertial frame; right , , , and By performing double integration, the simulated position of the slave machine at the next time step can be obtained. and simulated attitude angle .

8. A daughter aircraft landing control device for a mother-daughter UAV based on an active disturbance rejection controller, characterized in that, include: The acquisition unit is used to acquire the expected position of the sub-machine at the next moment from the pre-planned flight trajectory of the sub-machine, and set the expected yaw angle of the sub-machine at the next moment; The first processing unit is used to process the expected position of the slave machine at the next moment and the simulated position at the current moment using three position active disturbance rejection controllers to obtain the acceleration of the slave machine at the next moment. The first determining unit is used to determine the desired roll angle and desired pitch angle of the submachine at the next moment based on the acceleration of the submachine at the next moment. The second processing unit is used to process the desired attitude angle of the slave unit at the next moment and the simulated attitude angle at the current moment using three attitude active disturbance rejection controllers to obtain the attitude torque correction signal; the desired attitude angle includes: desired roll angle, desired pitch angle and desired yaw angle. The mapping unit is used to map the attitude torque correction signal into the control signals of the four motors of the slave unit based on the motor hybrid control logic model. The second determining unit is used to determine the simulated position and simulated attitude angle of the submachine at the next moment based on the control signals and dynamic model of the four motors of the submachine.

9. An electronic device, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the method as claimed in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the method as described in any one of claims 1-7.

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