CN108132604A - Quadrotor robust attitude control method, apparatus and system based on quaternary number - Google Patents
Quadrotor robust attitude control method, apparatus and system based on quaternary number Download PDFInfo
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Abstract
The present invention provides quadrotor robust attitude control method, apparatus and systems based on quaternary number, are related to technical field of automatic control, including establishing error model according to the kinetic model of attitude information and quadrotor rotary motion；Nom inalcontroller is built, nominal closed-loop control system is obtained into line trace to error model according to nom inalcontroller；Robust compensator is built, probabilistic inhibition is carried out to error model according to robust compensator, obtains robust gesture stability information.The present invention has preferable stable state and performance of dynamic tracking.
Description
Technical field
The present invention relates to technical field of automatic control, more particularly, to the quadrotor robust appearance based on quaternary number
State control method, apparatus and system.
Background technology
In the past ten years, the development of unmanned helicopter system achieves major progress, particularly quadrotor,
Because they have two big advantages than traditional helicopter：Complicated Mechanical course connection and right is not needed to including rotor driving
In given fuselage size, each rotor of quadrotor is smaller than the main rotor of pure helicopter.
Therefore, many researchs have been done to quadrotor in control field, and has proposed some control methods and comes in fact
The automatic flight of existing body.However, quadrotor dynamics is related to multiple uncertainties, including Parameter Perturbation, coupling, it is non-linear and
External disturbance.Firstly, since different mission requirements, payload configuration may change, this will lead to quadrotor weight
The variation of amount and inertial tensor, therefore body dynamics is influenced by Parameter Perturbation.Secondly, in quadrotor model attitude angle with
There are serious non-linear and inter-axis couplings for its change rate.In addition, body dynamics is easily by the shadow of unexpected or lasting fitful wind
It rings, external disturbance can seriously affect the flying quality of body, even result in the unstable of closed-loop system.Scientific research personnel proposes newly
Sliding-mode control it is anti-interference in quadrotor flight course to realize.But the performance of dynamic tracking of closed-loop control system is not
It can obtain the guarantee of discontinuous control method.Dydek et al. discusses adaptive control algorithm, to realize the robust to quadrotor
Trajectory Tracking Control.But in entire frequency range, the H of standard∞Control method can not inhibit non-linear and coupling to closed loop
The influence of control system.In addition, previous most of work all concentrates on the robust controller based on Eulerian angles and is used for describing directly
The spin dynamics of the machine of liter, however there is singular point in this representation method.Someone is avoided using quaternary number representation by Europe
The singularity that the spin matrix that angle defines is intrinsic is drawn, index state is realized by compensating Coriolis and gyroscopic torque and stablizes.So
And in the performance evaluation of the closed-loop control system of design, not yet discuss probabilistic influence fully.
Previous many research work are all concentrated on represents straight to improve by self-adaptation control method based on quaternary number
Rise the robustness of machine system.Johnson and Kannan et al. propose the direct adaptive control method based on neural network come
Realize the track following of autonomous helicopter.Isidori and L.Marconi et al. devise a kind of novel nonlinear adaptive
Output controller moves vertically to control, the transverse direction of Simultaneous Stabilization helicopter and horizontal position.But self-adapting closed loop system is dynamic
State tracking performance can not determine that influence of the time-varying disturbance to control system not yet discusses fully in its stability analysis.It is practical
On, the plus-minus definition of quaternary number is non-linear and complicated, this may lead to the tracking performance of closed-loop control system by not true
Qualitatively influence.
Invention content
In view of this, the purpose of the present invention is to provide the quadrotor robust gesture stability sides based on quaternary number
Method, apparatus and system have preferable stable state and performance of dynamic tracking.
In a first aspect, an embodiment of the present invention provides a kind of quadrotor robust gesture stability sides based on quaternary number
Method, wherein, including：
Error model is established according to the kinetic model of attitude information and quadrotor rotary motion；
Nom inalcontroller is built, nominal closed loop is obtained into line trace to the error model according to the nom inalcontroller
Control system；
Robust compensator is built, probabilistic inhibition is carried out to the error model according to the robust compensator, is obtained
Take robust gesture stability information.
With reference to first aspect, an embodiment of the present invention provides the first possible embodiment of first aspect, wherein, institute
It states attitude information and includes angular speed, rotary inertia, external torque and spin matrix, it is described to be flown according to attitude information and quadrotor
The kinetic model of device rotary motion establishes error model, including：
The kinetic model obtains according to the following formula：
Wherein, ωb(t) it is the angular speed in aircraft body coordinate system, the rotary inertias of the J for body, τb
(t) to act on the external torque in body coordinate system, R (t) is the spin matrix.
With reference to first aspect, an embodiment of the present invention provides second of possible embodiment of first aspect, wherein, institute
It states and error model is established according to the kinetic model of attitude information and quadrotor rotary motion, further include：
The error model obtains according to the following formula：
Wherein, e (t) is tracking error, and A and B are constant matrices, and u (t) is inputted in order to control, and Δ (t) is equivalent dry to input
It disturbs.
With reference to first aspect, an embodiment of the present invention provides the third possible embodiment of first aspect, wherein, institute
Structure nom inalcontroller is stated, nominal closed-loop control system is obtained into line trace to the error model according to the nom inalcontroller
System, including：
The nom inalcontroller obtains according to the following formula：
uN(t)=- Ke (t)=- [Kq Kω]e(t)
Wherein, uN(t) it is the nominal control input of the nom inalcontroller, K is linear gain matrix, Kq、KωIt is nominal
Controller parameter, e (t) are the tracking error in the error model.
With reference to first aspect, an embodiment of the present invention provides the 4th kind of possible embodiment of first aspect, wherein, institute
Structure robust compensator is stated, probabilistic inhibition is carried out to the error model according to the robust compensator, obtains robust
Gesture stability information, including：
The robust compensator obtains according to the following formula：
uR(s)=- F (s) Δs (s),
Wherein, uR(s) the robust compensation input for the robust compensator after Laplace transform, F (s) are the robust
The gain of compensator, Δ (s) are the equivalent interference of input in the error model after Laplace transform.
With reference to first aspect, an embodiment of the present invention provides the 5th kind of possible embodiment of first aspect, wherein, institute
The method of stating further includes：
According to the attitude information of preset time acquisition quadrotor rotary motion.
Second aspect, the embodiment of the present invention also provide a kind of quadrotor robust attitude-control device, wherein, including
Flight-control computer；
The flight-control computer by onboard Digital Signal Processing DSP realize as described in Claims 1 to 5 based on
The quadrotor robust attitude control method of quaternary number.
With reference to second aspect, an embodiment of the present invention provides the first possible embodiment of second aspect, wherein, also
Including inertial measurement system；
The inertial measurement system, for acquiring the attitude information of quadrotor rotary motion according to preset time,
And the attitude information is transmitted to the flight-control computer.
With reference to second aspect, an embodiment of the present invention provides second of possible embodiment of second aspect, wherein, institute
It states inertial measurement system and includes the gyroscope being connected respectively with the flight-control computer, digital magnetometer and digital acceleration
Meter.
The third aspect, the embodiment of the present invention also provide a kind of quadrotor robust gesture stability system based on quaternary number
System, wherein, including：
Error model establishes unit, for being built according to the kinetic model of attitude information and quadrotor rotary motion
Vertical error model；
First construction unit for building nom inalcontroller, carries out the error model according to the nom inalcontroller
Tracking, obtains nominal closed-loop control system；
Second construction unit for building robust compensator, carries out the error model according to the robust compensator
Probabilistic inhibition obtains robust gesture stability information.
The embodiment of the present invention brings following advantageous effect：Quadrotor Shandong provided by the invention based on quaternary number
Stick attitude control method, apparatus and system, including the kinetic model according to attitude information and quadrotor rotary motion
Establish error model；Nom inalcontroller is built, nominal closed-loop control is obtained into line trace to error model according to nom inalcontroller
System；Robust compensator is built, probabilistic inhibition is carried out to error model according to robust compensator, obtains robust posture control
Information processed.The present invention has preferable stable state and performance of dynamic tracking.
Other features and advantages of the present invention will illustrate in the following description, also, partly become from specification
It obtains it is clear that being understood by implementing the present invention.The purpose of the present invention and other advantages are in specification, claims
And specifically noted structure is realized and is obtained in attached drawing.
For the above objects, features and advantages of the present invention is enable to be clearer and more comprehensible, preferred embodiment cited below particularly, and coordinate
Appended attached drawing, is described in detail below.
Description of the drawings
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution of the prior art
Embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, in being described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is the quadrotor robust attitude control method flow based on quaternary number that the embodiment of the present invention one provides
Figure；
Fig. 2 is the quadrotor structure chart that the embodiment of the present invention one provides；
Fig. 3 is quadrotor robust attitude-control device structure diagram provided by Embodiment 2 of the present invention；
Fig. 4-14 are the schematic diagram of experiment test that inventive embodiments two provide；
Figure 15 is the quadrotor Robust Control System flow based on quaternary number that inventive embodiments three provide
Figure.
Icon：
110- flight-control computers；120- gyroscopes；130- number magnetometers；140- number accelerometers；150- sonars；
160-GPS receiving modules；The first Zigbee wireless modules of 171-；The 2nd Zigbee wireless modules of 172-；180-PC；210- errors
Model foundation unit；The first construction units of 220-；The second construction units of 230-.
Specific embodiment
Purpose, technical scheme and advantage to make the embodiment of the present invention are clearer, below in conjunction with attached drawing to the present invention
Technical solution be clearly and completely described, it is clear that described embodiment be part of the embodiment of the present invention rather than
Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Lower all other embodiments obtained, shall fall within the protection scope of the present invention.
At present, previous many research work are all concentrated on is represented by self-adaptation control method to improve based on quaternary number
Helicopter System robustness.Johnson and Kannan et al. propose the direct adaptive control side based on neural network
Method realizes the track following of autonomous helicopter.Isidori and L.Marconi et al. devise it is a kind of it is novel it is non-linear from
Output controller is adapted to control vertical movement, the transverse direction of Simultaneous Stabilization helicopter and horizontal position.But self-adapting closed loop system
Performance of dynamic tracking can not determine that influence of the time-varying disturbance to control system not yet discusses fully in its stability analysis.
In fact, the plus-minus definition of quaternary number is non-linear and complicated, this may cause the tracking performance of closed-loop control system by
Probabilistic influence.
Based on this, the quadrotor robust attitude control method provided in an embodiment of the present invention based on quaternary number, dress
It puts and system, can have preferable stable state and performance of dynamic tracking.
For ease of understanding the present embodiment, first to the quadrotor based on quaternary number disclosed in the embodiment of the present invention
Aircraft robust attitude control method describes in detail.
Embodiment one：
Fig. 1 is the quadrotor robust attitude control method flow based on quaternary number that the embodiment of the present invention one provides
Figure.
With reference to Fig. 1, the quadrotor robust attitude control method based on quaternary number includes the following steps：
Step S110, according to the attitude information of preset time acquisition quadrotor rotary motion；
Step S120 establishes error model according to the kinetic model of attitude information and quadrotor rotary motion；
Step S130 builds nom inalcontroller, nominal closed loop is obtained into line trace to error model according to nom inalcontroller
Control system；
Step S140 builds robust compensator, carries out probabilistic inhibition to error model according to robust compensator, obtains
Take robust gesture stability information.
What the step S110 and step S120 of this method were proposed is the mathematical model based on quaternary number, step S130 and step
What S140 was proposed is the design of the system robust controller of the quadrotor model represented based on quaternary number, including nom inalcontroller
Design and the design of robust compensator.
As shown in Fig. 2, quadrotor includes a rigid cross and four rotors.Longitudinal direction a pair of rotor (1,3)
Rotation counterclockwise, lateral a pair of rotor (2,4) rotate clockwise.If necessary to pitching movement, it can increase what is generated by rotor 1
Thrust T1(t) and reduce T3(t).Can T be changed by similar mode2(t) and T4(t) rolling movement is realized.Realize deflection
The thrust that movement can then reduce a pair of of rotor increases the thrust of another pair rotor simultaneously, the reaction that four rotors is utilized to generate
Torque is completed.As shown in Figure 1, set EI={ EIx,EIy,EIzRepresent earth fixed coordinate system, EB={ EBx,EBy,EBzIt is one
The body coordinate system being connected with body.Shown in the kinetic model such as formula (1) for describing rotary motion：
Wherein, ωb(t)=[ωbi(t)]3×1In EBIn angular speed, J is the rotary inertia of body, be one it is symmetrical just
Permanent matrix number, τb(t)=[τbi(t)]3×1It is to act on body system EBOn external torque, R (t) ∈ SO (3) are spin moments
Battle array, represents by with EBSubstrate is converted to EISubstrate, and S (ωb(t)) shown in expression such as formula (2)：
The present embodiment describes rotary motion using unit quaternion expression, to avoid the expression based on Eulerian angles
Possessed singularity problem.It enablesRepresent unit quaternion, wherein q1(t) andIt is respectively the scalar component and vector section of quaternary number, and meets
Spin matrix can be provided by four quaternary numbers, as shown in formula (3)：
In fact, first equation in formula (1) can be replaced with the quaternary number equation of transfer shown in formula (4)：
Wherein, InFor n × n unit matrixs.Coordinate system EBIn external torque can be obtained by formula (5)：
Wherein, ld>0 represents from each rotor to the distance of body barycenter, τi(t) (i=1,2,3,4) is by four rotors
The anti-torque generated respectively.The thrust and the moment of reaction generated by each rotor can be provided by formula (6)：
Wherein, ωri(t) (i=1,2,3,4) is the rotary speed of rotor i respectively, kTωAnd kτωIt is relative to sky
The normal number of the geometric properties (such as chord length, the angle of pitch and blade shape) of air tightness, resistance constant and blade.It enablesIt is arranged to normal number, with the approximate influence for offsetting gravity in hovering.If
Meter control input ui(t) (i=1,2,3) is shown in formula (7)：
Four controls are inputted by u by distribution boardi(t) (i=1,2,3) and ugDistribute to four rotors.Each control input
There are Internal dynamics between rotating speed corresponding to rotor, but the convergence rate of actual rotation speed and required rotary speed compares appearance
State tracking error is faster to the convergence rate of zero, therefore Internal dynamics are ignored.
Here, desired attitude reference is usedIt represents.It is it is assumed that required
Reference and its single order and second dervative be piecewise uniform bounded.Attitude Tracking error vector can pass through nonlinear functionTo obtain.Expression formula can be provided by formula (8)：
DefinitionWhereinWithE (t) is error vector,For the coordinate system E being defined onBOn rotating speed phase
Hope rotary speed.In fact, eq(t) it is Attitude Tracking error, eω(t) it is rotating-speed tracking error vector.Tracking error can lead to
It crosses directly decomposition e (t) to obtain, as shown in formula (9)：
Define u (t)=[u1(t) u2(t) u3(t)]T∈R3×1,Bτ=diag (kTωld,kTωld,kτω), and with reference to formula
(1), (5)~(7) can obtain formula (10)：
Enable Bω=J-1Bτ.Then it meets formula (11)：
Wherein, deτ(t)∈R3×1It is external uncertain but bounded, for example, acting on the external wind disturbance on body；Four
Rotor parameter matrix BωTwo parts can be divided into：Bω=BωN+BωΔ.Here, subscript N represents nominal parameters matrix, and Δ represents ginseng
Number is uncertain.Matrix BωNIt is a symmetric positive definite matrix, and is assumed to meet and be somebody's turn to doA, B is fixed respectively
Justice is：
Wherein, Ο3For 3 × 3 null matrix.Error model (11) is written over, as shown in formula (13)：
Wherein, Δ (t) ∈ R3×1It is the equivalent interference of input, and with following form：
Further, the following aspect for designing robust nonlinear attitude controller will be described：For giving just
Constant ε and given original state e (0), there are positive constant T*So that Attitude Tracking error and rotary speed tracking error are
Bounded, meet inequality：
System robust Controller Design method about the quadrotor model represented based on quaternary number.The control input of design
U (t) includes two items：Nominal control inputIt is inputted with robust compensationIt is and full
Sufficient relational expression (15)：
U (t)=uN(t)+uR(t) (15),
To realize the expectation of nominal closed-loop system tracking, increased robust compensation input is used for above-mentioned nominal control input
To inhibit the influence of the equivalent interference Δ (t) of input.
First, nom inalcontroller can be constructed as shown in formula (16)：
uN(t)=- Ke (t)=- [Kq Kω] e (t), (16),
Wherein, linear gain matrix K=[kij]3×6It needs to be chosen to AK=A-BK is Hurwitz.With reference to formula
(13), (15) and (16) can obtain formula (17)：
Error model (17) can ignore input equivalent disturbance Δ (t) and be considered as nominal closed-loop control system.Pass through
Linear gain matrix K is selected, the nominal closed-loop system with required pole can be set.
Then, robust compensator is introduced to inhibit probabilistic influence.Desired robust compensation inputs uR(t) by-Δ
(t) it provides.From formula (14) as can be seen that Δ (t) is uncertain comprising uncertain parameter and outside；It can be with according to formula (13)
Obtain the conclusion as shown in formula (18)：
HereIt is not measurable variable, therefore, introduces the control parameter F of robust controlleri(s) (i=1,2,3) such as
Shown in lower：
Wherein, s is Laplace operator, fi(i=1,2,3) it is normal number.Fi(s) (i=1,2,3) is lower order filter,
With following characteristic：If fi(i=1,2,3) selects larger positive value, then these filter bandwidhts will be wider, so as to wave filter
Gain will be close to 1.Therefore, the input of structure robust compensation is as shown in formula (20)：
uR(s)=- F (s) Δs (s) (20),
Wherein, F=diag (F1(s),F2(s),F3(s)).It is obtained according to formula (18) and (20)：
Wherein, cn,iTo be 1 outside the i-th row, remaining is 0 row vector.Robust compensator can be according to shown in formula (22)
Mode is realized：
And then robust controller can be described with formula (23)：
Above-described embodiment aims to solve the problem that the quadrotor gesture stability problem based on quaternary number, and dynamics is related to joining
Number perturbation, coupling, non-linear and external disturbance.Nominal model is obtained by ignoring the coupling terms between angular speed first, and
Coupling terms, parameter uncertainty and external uncertainty are considered as the equivalent interference of input.The controller proposed is by two parts
Composition：Nominal control and robust compensator.Nom inalcontroller is designed to realize the desired tracking of nominal system, and robust compensation
Device is introduced into the influence for the equivalent interference of input that decays.Above-described embodiment weakens various uncertainties to closed-loop control system
It influences, it may be determined that the performance of dynamic tracking of the control system proposed, and track following error convergence giving to origin
In neighborhood.In addition, the lower limit by giving robust compensator parameter, Attitude Tracking error can in given finite time into
Enter the given neighborhood of origin, quadrotor tracking performance is greatly improved.
Embodiment two：
Fig. 3 is quadrotor robust attitude-control device structure diagram provided by Embodiment 2 of the present invention.
The embodiment of the present invention additionally provides quadrotor robust attitude-control device, is used to implement above-mentioned based on four
The quadrotor robust attitude control method of first number.Quadrotor robust attitude-control device is in model copter
Mechanical framework, on the basis of blade and four motors, increase electronic circuit and attitude transducer.
As shown in figure 3, quadrotor robust attitude-control device includes avionics system and earth station.Aviation electricity
Subsystem includes Inertial Measurement Unit and flight-control computer, Inertial Measurement Unit include respectively with flight-control computer
Connected gyroscope, digital magnetometer and digital accelerometer.Gyroscope, digital magnetometer and digital accelerometer are according to default
Time acquires the attitude information of quadrotor rotary motion, and attitude information is transmitted to the flight-control computer；
Based on the attitude information, flight-control computer by onboard Digital Signal Processing DSP realize it is above-mentioned based on quaternary number four
Rotor craft robust attitude control method, also, the sampling time can be 2ms.In addition, further included in avionics system with
The sonar and GPS receiver that flight-control computer is connected, flight-control computer also pass through the first Zigbee wireless modules,
((personal computer, personal computer) is connected by two Zigbee wireless modules and the PC of earth station.
Further, the method and apparatus provided by experiment test above-described embodiment are described.To nominally it join
Matrix number is BωN=diag (10,10,15), controller parameter is set as Kq=[4 4 3], Kω=[3 3 2], f1=3, f2=
3 and f3=3.In order to clearly illustrate the intuitive physical significance of attitude reference, by desired Eulerian angles with reference to acquisition based on single
The expectation attitude reference that position quaternary number represents.It can realize as shown in formula (24)：
Wherein, φr(t) it is it is expected roll angle, θr(t) it is desired pitch angle, and ψr(t) it is it is expected yaw angle.Pass through
Implement three experiment tests to check the tracking performance of proposed closed-loop system.
Situation one：Quadrotor needs the sinusoidal reference signal under the conditions of tracking and coupling, to check control system
Performance of dynamic tracking.In this case, sine wave reference value is respectively 10s periods and 12 °, 18 ° and 6 ° amplitudes, is represented respectively
Roll angle, yaw angle and pitch angle.Unmanned plane is from φr(0)=0, θrAnd ψ (0)=0r(0)=0 state starts.Q (t) needs
Follow the q determined by formula (24)r(t).From the kinetic model of formula (1) as can be seen that between attitude angle and angular speed
There are inter-axis couplings.By the robust control method proposed, can it is various it is uncertain under the influence of realize it is good with
Track performance, as shown in Figure 4.The advantages of in order to make proposed control method, is apparent, and the equivalent posture represented based on Eulerian angles is rung
It should be as shown in Figure 3.The tracking error of angle in Fig. 5 and Fig. 6.As it can be seen that the tracking error of rolling, yaw and pitch angle is respectively
1.2 °, 0.3 ° and 0.8 °.Here uncertain quadrotor is controlled using continuous attitude controller, to inhibit multiple
Influence of the uncertainty to closed-loop control system.The stable state and performance of dynamic tracking of the control system proposed can be protected
Card.
Situation two：Detect the steady track performance of closed-loop control system.It is required that body follows azimuth waveform reference, pendulum
Width and yaw angle are respectively 10 ° and 20 °.The posture response of input is represented and controlled based on quaternary number as shown in Figure 7 and Figure 8.
Fig. 9 gives the equivalent posture response represented based on Eulerian angles, and shows the tracking error of roll angle and yaw angle.From Fig. 9
With Figure 10 as can be seen that when roll angle and yaw angle are respectively 10 ° and 20 °, roll angle, the stable state of yaw angle and pitch angle with
Track error is only 0.3 °, 0.1 ° and 0.3 °, from 12 seconds to 15 second.Closed-loop control system reaches good stable state under coupling condition
Tracking performance.Closed-loop control system reaches good steady track performance under coupling condition.From figure 7 it can be seen that q3(t) not
It can trackingAnd other quaternary numbers, but q3(t) absolute tracking error and q2(t) and q4(t) it is similar.
Situation three：Unmanned plane needs track sine wave reference under the action of fitful wind.Electric fan is connected for about 0 second, and about 5
Second closes.Then, it is again turned within about 10 seconds, closes within about 15 seconds.The airspeedometer that effective resolution is 0.1m/s is used to measure
Wind speed.When wind turbine is opened, the fitful wind of 4.2 meter per second speed can be generated.It rolls and yaw angle is respectively necessary for tracking sine wave
With reference to 10s and 10 ° and 20 ° of amplitudes.Pitch angle needs to be maintained at 0 °.Depicted in Figure 11 and Figure 12 based on quaternary number represent and
The posture response of corresponding control input.The equivalent posture response represented based on Eulerian angles is shown in FIG. 13, and is scheming
The tracking error of roll angle and yaw angle is shown in 14.It is it can be seen that right when closed-loop control system encounters the influence of fitful wind
Roll in sine wave reference tracing task, yaw and pitch angle, tracking error are respectively 2.2 °, 0.7 ° and 2.0 °.Here
Wide-angle is realized with reference to the robust gesture stability and fitful wind coupling condition in tracing task using quadrotor.
Embodiment three：
Figure 15 is the quadrotor Robust Control System flow based on quaternary number that inventive embodiments three provide
Figure.
With reference to Figure 15, the quadrotor Robust Control System based on quaternary number includes such as lower unit：
Error model establishes unit 210, for the kinetic simulation according to attitude information and quadrotor rotary motion
Type establishes error model；
First construction unit 220, for building nom inalcontroller, according to nom inalcontroller to error model into line trace,
Obtain nominal closed-loop control system；
Second construction unit 230 for building robust compensator, does not know error model according to robust compensator
Property inhibition, obtain robust gesture stability information.
The technique effect and preceding method of device that the embodiment of the present invention is provided, system, realization principle and generation are real
It is identical to apply example, to briefly describe, device, system embodiment part do not refer to part, can refer to corresponding in preceding method embodiment
Content.
Quadrotor Robust Control System provided in an embodiment of the present invention based on quaternary number, with above-mentioned implementation
Quadrotor robust attitude-control device, the quadrotor robust attitude control method based on quaternary number of example offer
With identical technical characteristic, so can also solve the technical issues of identical, reach identical technique effect.
Above-mentioned inventive embodiments bring following advantageous effect：Quadrotor flight provided by the invention based on quaternary number
Device robust attitude control method, apparatus and system, including the dynamics according to attitude information and quadrotor rotary motion
Model foundation error model；Nom inalcontroller is built, nominal closed loop is obtained into line trace to error model according to nom inalcontroller
Control system；Robust compensator is built, probabilistic inhibition is carried out to error model according to robust compensator, obtains robust appearance
State controls information.The present invention has preferable stable state and performance of dynamic tracking.
The embodiment of the present invention also provides a kind of electronic equipment, and including memory, processor, being stored in memory can locate
The computer program that runs on reason device, processor realize that above-described embodiment provides when performing computer program based on quaternary number
The step of quadrotor robust attitude control method.
The embodiment of the present invention also provides a kind of computer readable storage medium, and meter is stored on computer readable storage medium
Calculation machine program performs the quadrotor robust based on quaternary number of above-described embodiment when computer program is run by processor
The step of attitude control method.
In several embodiments provided herein, it should be understood that disclosed systems, devices and methods, it can be with
It realizes by another way.The apparatus embodiments described above are merely exemplary, and only a kind of logic function is drawn
Point, there can be other dividing mode in actual implementation.
The unit illustrated as separating component may or may not be physically separate, be shown as unit
The component shown may or may not be physical unit, you can be located at a place or can also be distributed to multiple
In network element.Some or all of unit therein can be selected according to the actual needs to realize the mesh of this embodiment scheme
's.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it can also
That each unit is individually physically present, can also two or more units integrate in a unit.
If the function is realized in the form of SFU software functional unit and is independent product sale or in use, can be with
It is stored in the non-volatile computer read/write memory medium that a processor can perform.Based on such understanding, the present invention
The part that substantially contributes in other words to the prior art of technical solution or the part of the technical solution can be with software
The form of product embodies, which is stored in a storage medium, including some instructions use so that
One computer equipment (can be personal computer, server or the network equipment etc.) performs each embodiment institute of the present invention
State all or part of step of method.And aforementioned storage medium includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-
Only Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with
Store the medium of program code.
Finally it should be noted that：Embodiment described above, only specific embodiment of the invention, to illustrate the present invention
Technical solution, rather than its limitations, protection scope of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, it will be understood by those of ordinary skill in the art that：Any one skilled in the art
In the technical scope disclosed by the present invention, it can still modify to the technical solution recorded in previous embodiment or can be light
It is readily conceivable that variation or equivalent replacement is carried out to which part technical characteristic；And these modifications, variation or replacement, do not make
The essence of corresponding technical solution is detached from the spirit and scope of technical solution of the embodiment of the present invention, should all cover the protection in the present invention
Within the scope of.Therefore, protection scope of the present invention described should be subject to the protection scope in claims.
Claims (10)
1. a kind of quadrotor robust attitude control method based on quaternary number, which is characterized in that including：
Error model is established according to the kinetic model of attitude information and quadrotor rotary motion；
Nom inalcontroller is built, nominal closed-loop control is obtained into line trace to the error model according to the nom inalcontroller
System；
Robust compensator is built, probabilistic inhibition is carried out to the error model according to the robust compensator, obtains Shandong
Stick gesture stability information.
2. according to the method described in claim 1, it is characterized in that, the attitude information includes angular speed, rotary inertia, outside
Torque and spin matrix, the kinetic model according to attitude information and quadrotor rotary motion establish error mould
Type, including：
The kinetic model obtains according to the following formula：
Wherein, ωb(t) it is the angular speed in aircraft body coordinate system, the rotary inertias of the J for body, τb(t)
To act on the external torque in body coordinate system, R (t) is the spin matrix.
It is 3. according to the method described in claim 1, it is characterized in that, described according to attitude information and quadrotor rotation fortune
Dynamic kinetic model establishes error model, further includes：
The error model obtains according to the following formula：
Wherein, e (t) is tracking error, and A and B are constant matrices, and u (t) is inputted in order to control, and Δ (t) is inputs equivalent interference.
4. according to the method described in claim 1, it is characterized in that, the structure nom inalcontroller, according to the nominal control
Device into line trace, obtains nominal closed-loop control system to the error model, including：
The nom inalcontroller obtains according to the following formula：
uN(t)=- Ke (t)=- [Kq Kω]e(t)
Wherein, uN(t) it is the nominal control input of the nom inalcontroller, K is linear gain matrix, Kq、KωIt is nominal control
Device parameter, e (t) are the tracking error in the error model.
5. according to the method described in claim 1, it is characterized in that, the structure robust compensator, according to the robust compensation
Device carries out probabilistic inhibition to the error model, obtains robust gesture stability information, including：
The robust compensator obtains according to the following formula：
uR(s)=- F (s) Δs (s),
Wherein, uR(s) the robust compensation input for the robust compensator after Laplace transform, F (s) are the robust compensation
The gain of device, Δ (s) are the equivalent interference of input in the error model after Laplace transform.
6. according to the method described in claim 1, it is characterized in that, the method further includes：
According to the attitude information of preset time acquisition quadrotor rotary motion.
7. a kind of quadrotor robust attitude-control device, which is characterized in that including flight-control computer；
The flight-control computer by onboard Digital Signal Processing DSP realize as described in claim 1~6 based on quaternary
Several quadrotor robust attitude control methods.
8. device according to claim 7, which is characterized in that further include inertial measurement system；
The inertial measurement system, for acquiring the attitude information of quadrotor rotary motion according to preset time, and will
The attitude information is transmitted to the flight-control computer.
9. device according to claim 7, which is characterized in that the inertial measurement system includes controlling with the flight respectively
Gyroscope, digital magnetometer and the digital accelerometer that computer processed is connected.
10. a kind of quadrotor Robust Control System based on quaternary number, which is characterized in that including：
Error model establishes unit, is missed for being established according to attitude information and the kinetic model of quadrotor rotary motion
Differential mode type；
First construction unit, for building nom inalcontroller, according to the nom inalcontroller to the error model into line trace,
Obtain nominal closed-loop control system；
Second construction unit for building robust compensator, carries out the error model according to the robust compensator not true
Qualitatively inhibit, obtain robust gesture stability information.
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