UAV Lead-Correction Control Under Actuator Speed Saturation
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Solution Overview
Problem
Existing anti-saturation algorithms for unmanned aerial vehicles (UAVs) fail to consider the lag effect of actuators and lead correction, leading to command deviations and reduced control accuracy during rotational speed saturation, potentially causing loss of control and crashes.
Innovation Solution
An anti-saturation control method that determines a first rotational speed using a lead correction algorithm, re-determines it as a second rotational speed when saturation is reached, calculates anti-saturation acceleration, and controls the UAV based on this acceleration to maintain stable flight.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If lead correction algorithm is used to compensate actuator lag, then control response accuracy is improved, but command saturation occurs more easily
Solution Approach 1:
The patent applies preliminary action by detecting potential saturation conditions before they occur and adjusting the command in advance. The control device predicts whether the lead correction output will exceed actuator limits and pre-adjusts the command to prevent saturation, thereby maintaining both control accuracy and reliability.
Solution Approach 2:
The patent implements feedback by continuously monitoring the actuator saturation state and using this information to adjust the lead correction algorithm's output. When saturation is detected or predicted, the system feeds back this information to modify the command, ensuring that the actuator operates within its limits while maintaining control accuracy.
2Stability of the object's composition
If anti-saturation processing is applied, then flight stability is ensured, but control accuracy deteriorates due to command deviation
Solution Approach 1:
The patent uses preliminary action to adjust the control command before saturation occurs. By predicting potential saturation conditions and pre-modifying the command, the system maintains flight stability while minimizing control accuracy loss, as the adjustment is made proactively rather than reactively.
Solution Approach 2:
The patent applies parameter changes by dynamically adjusting the lead correction parameters based on the saturation state. When approaching saturation, the system modifies the correction gain or time constant to reduce the deviation between commanded and actual control, thereby maintaining both stability and accuracy.
Data Source
AI summary
The present application provides an anti-saturation control method and device for an unmanned aerial vehicle based on lead correction, where the method includes determining a first rotational speed of a plurality of actuators of the unmanned aerial vehicle from a pre-set lead correction algorithm; re-determining, when the first rotational speed satisfies a saturation limit condition, the first rotational speed satisfying the saturation limit condition as a second rotational speed in a critical saturation state; calculating an anti-saturation acceleration corresponding to the second rotational speed from the lead correction algorithm; and controlling the unmanned aerial vehicle to fly according to the anti-saturation acceleration. In the above scheme, the lag effect and command saturation of the actuator are taken into account simultaneously, and the lead correction algorithm is combined with the anti-saturation processing organically, so that the anti-saturation acceleration can be restored after undergoing an actuator allocation link and a lead correction link, and the anti-saturation allocation of the actuator with different lag effect can also be processed, so as to improve the flight accuracy of the unmanned aerial vehicle.