CN112015192A - Self-healing quad-rotor unmanned aerial vehicle anti-interference control method and system - Google Patents
Self-healing quad-rotor unmanned aerial vehicle anti-interference control method and system Download PDFInfo
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Abstract
The invention provides an anti-interference control method and system for a self-healing quad-rotor unmanned aerial vehicle, which comprises the following steps: the system comprises a control system, an actuating mechanism, a four-rotor platform, a positioning unit, a gyroscope, an accelerometer and a communication unit; the control system comprises a position ring controller, an attitude ring controller, a position disturbance observer, an attitude disturbance observer and an expected attitude generation module; the position ring controller analyzes a deviation value of a given expected position or an expected track and current position and speed information measured and output by a positioning system, and processes the deviation value by adopting a position control method to obtain a four-rotor control force for promoting the deviation value to be zero; the attitude ring controller analyzes the deviation values of the four-rotor expected attitude output by the expected attitude calculation module and the current attitude and angular velocity information output by the gyroscope and the accelerometer through measurement and processing, and processes the deviation values by adopting an attitude control method to obtain the four-rotor control moment which promotes the deviation values to be zero.
Description
Technical Field
The invention relates to the field of quad-rotor unmanned aerial vehicles, in particular to an embedded interference observer technology for strengthening the anti-interference performance of quad-rotor. As an embedded module, the anti-interference performance of the four rotors can be greatly improved by combining feed-forward with any one stable control method; the proposed disturbance observer can strengthen the dynamic and steady-state performance of the combined control method, and avoids the process of repeatedly adjusting a plurality of control parameters in practical application.
Background
The quad-rotor unmanned aerial vehicle technology has attracted extensive social attention, and the technological development thereof also significantly affects many application fields, such as transportation, disaster relief, distribution logistics, precision agriculture, smart factories, panoramic photography, and the like. However, there are generally a large number of disturbances in the real-world working environment of quad-rotor drones, and these disturbances are mainly classified into three main categories: the first is external disturbances in the working environment, such as natural wind, air flow, etc.; the second type is internal interference caused by hardware faults of the motor, such as voltage dip, sensor errors and the like caused by motor faults; the third type is model uncertainty in model control methods, mainly caused by system parameter inaccuracy and system nonlinearity. Therefore, how to restrain and compensate the influence of the above-mentioned multisource interference effectively to it has important scientific value and practical meaning to improve the stability of four rotor unmanned aerial vehicle flight under the complex environment.
The control method in the field has been researched by China colleges and universities such as Qinghua, North aviation, West worker university, Haugher university and North management, for example, PID control, H∞Control, Active Disturbance Rejection Control (ADRC), and the like. PID control, H∞Although the control has good anti-interference effect under certain specific conditions, when the working environment of the four rotors is greatly changed, the anti-interference effect is greatly reduced due to the inadaptability of parameter setting, and the control parameters can only be readjusted to adapt to a new working environment, so that the control method has strong use inconvenience. Since the control method only depends on the robustness of the system, and does not identify the interference amount to overcome the influence, the control method can be called asIt is passive anti-interference; active disturbance rejection techniques such as active disturbance rejection control, which improve the four-rotor disturbance rejection capability to some extent over passive disturbance rejection, are implemented by designing an Extended State Observer (ESO) to estimate the disturbance values and then applying feed forward compensation. However, the state observer still needs to repeatedly adjust a large number of coupling parameters; moreover, when the interference has some prior information, the information cannot be fully utilized by using the active disturbance rejection control to achieve the best disturbance rejection effect. Chinese patent CN 104698840a and chinese patent CN 107491081a both relate to the four-rotor anti-interference technology, but do not consider the universality and modularization of the anti-interference technology, and are limited and complicated in practical application.
Disclosure of Invention
In order to solve the technical problems: the invention designs an anti-interference control method and system for a self-healing quad-rotor unmanned aerial vehicle, which can strengthen the anti-interference performance of quad-rotor unmanned aerial vehicles, and an interference observer is embedded in a control system, so that the anti-interference performance of quad-rotor unmanned aerial vehicles is strengthened, the observer can quickly and accurately estimate the interference borne by the quad-rotor flying environment, and the anti-interference effect is achieved through feed-forward compensation; on the other hand, the dynamic performance of the controller is optimized by embedding the disturbance observer, and the process that a plurality of control parameters are repeatedly adjusted again due to the change of the flight environment in practical application is avoided.
The technical solution of the invention is as follows: the utility model provides a four rotor unmanned aerial vehicle anti-interference control systems of self-healing, includes:
the system comprises a control system, an actuating mechanism, a four-rotor platform, a positioning unit, a gyroscope, an accelerometer and a communication unit; the control system comprises a position ring controller, an attitude ring controller, a position disturbance observer, an attitude disturbance observer and an expected attitude generation module;
the position ring controller analyzes a deviation value of a given expected position or an expected track and current position and speed information measured and output by a positioning system, and processes the deviation value by adopting a position control method to obtain a four-rotor control force for promoting the deviation value to be zero;
the attitude ring controller analyzes the deviation values of the four-rotor expected attitude output by the expected attitude calculation module and the current attitude and angular velocity information output by the gyroscope and the accelerometer through measurement and processing, and processes the deviation values by adopting an attitude control method to obtain four-rotor control moment for promoting the deviation values to tend to zero;
the actuating mechanism is four motors of four rotors, and the control unit distributes the control torque output by the attitude ring controller to the four motors in a linear distribution or nonlinear distribution mode; the four-rotor platform is a real four-rotor;
the positioning unit is used for measuring the position and speed information of the four rotors, and adopts a GPS positioning system outdoors, a motion capture positioning system indoors or an ultra-bandwidth positioning system mode; the gyroscope and the accelerometer are used for measuring attitude information of the four rotors, and complementary filtering is carried out on the measurement values of the gyroscope and the accelerometer to obtain accurate attitude angles and angular velocities of the four rotors;
the position disturbance observer is used for observing external disturbance and internal disturbance which cause the position deviation of the four rotors; the attitude disturbance observer is used for observing external disturbance and internal disturbance which cause attitude deviation of the four rotors; the expected attitude generation module converts the expected control force output by the position ring controller into an expected control attitude of the attitude ring controller, so as to achieve the effect of controlling the position of the quadrotors by changing the attitude of the quadrotors; the communication unit is used for being responsible for the communication of four rotors and ground control unit, sends the attitude information that four rotor IMU units measured to the control unit to give four rotors with the instruction motor signal feedback of control unit.
According to another aspect of the invention, the invention further provides an anti-interference control method for the self-healing quad-rotor unmanned aerial vehicle, wherein the interference control method in the position interference observer and the attitude interference observer comprises the following design steps:
step 1, analyzing by a general dynamic system, and designing an interference observer in an ideal state;
step 2, respectively designing a linear position disturbance observer and a nonlinear attitude disturbance observer by combining a four-rotor dynamic model and practical application analysis;
and 3, analyzing the stability of the designed interference observer by utilizing the Lyapunov stability theorem.
Further, the step 1 specifically includes:
(1.1) establishing a four-rotor dynamic model
And (3) giving a dynamic model of a position ring and a posture ring of the four rotors under an inertial coordinate system:
position ring:
an attitude ring:
wherein theta, phi and psi are Euler attitude angles of the four rotors and respectively represent a pitch angle, a roll angle and a yaw angle; dx,dy,dzD is defined for the interference force along all directions under the inertial coordinate systemp＝[dx,dy,dz]T(ii) a m is the total mass of the four rotors; u is the sum of the lift forces provided by the four propellers; eta ═ phi, theta, psi]TIs the attitude vector of four rotors; tau isηThe generalized moment corresponding to the generalized attitude variable of the four rotors is the control moment of the attitude ring; defining a position vector ξ ═ x, y, z]T(ii) a g is the acceleration of gravity;
a first derivative representing the signal Δ;
a second derivative representing the signal Δ;
(1.2) M in the formula (2)η(η) represents an inertia matrix of the attitude ring;
representing inertia of the attitude ringForce and coriolis force, which reflect the nonlinear part of the system; the specific expression is as follows:
wherein the simplified expression c*,s*Represents cos (, sin (); i isxx,Iyy,IzzThe unmanned aerial vehicle is the rotational inertia around each axis under the coordinate system of the body.
Further, the step 2 specifically includes:
respectively designing a position interference observer and an attitude interference observer by combining a four-rotor dynamic model; the position disturbance observer is a linear disturbance observer, and the attitude disturbance observer is a nonlinear disturbance observer;
(2.1) designing a linear position disturbance observer by combining a position dynamic model;
reducing formula (1) to a standard model expression:
wherein M isp＝diag[m,m,m]T，
And τpThe specific expression is as follows:
defining an auxiliary variable:
wherein,
in order to be an auxiliary function,
an estimate representing the signal Δ;
interference observer
The coefficient matrix satisfies the condition:
combining formulae (3), (4), and (5), yielding:
in summary, the linear position disturbance observer is designed as follows:
wherein the auxiliary function
The design is as follows:
wherein λ1To design the constants, which determine the estimated update rate of the position disturbance observer, from equation (5) it is derived
Expression (c):
Lp＝Mp -1λ1 (9)
the output of the linear position disturbance observer (7)
As a feed-forward signal of any position loop controller, the online detection and compensation of the position loop interference are realized.
(2.2) designing a non-linear attitude disturbance observer by combining the attitude dynamics model (2) in the design process of the same-position disturbance observer;
wherein:
Lη＝Mη -1λη (12)
wherein λ2To design a constant, which determines the estimated update rate of the attitude disturbance observer; output of a non-linear attitude disturbance observer (10)
As a feedforward signal of any attitude ring controller, the online detection and compensation of the attitude ring interference are realized;
therefore, a linear position disturbance observer is designed from equations (7), (8), and (9), and a nonlinear attitude disturbance observer is designed from equations (10), (11), and (12).
Under the condition that the structure of the existing controller is not changed, the intelligent detection small loop is respectively embedded into the attitude loop and the position loop, so that the online detection and compensation of the composite interference are realized, the stability of the system is ensured, the flying robustness of the quad-rotor unmanned aerial vehicle in a complex environment is improved, the expandability of the controller is enhanced, and the effectiveness and the engineering practicability of the quad-rotor unmanned aerial vehicle in inhibiting and compensating the composite interference are improved;
the stability of the interference observer Lyapunov proves that:
the position loop is structurally identical to the attitude disturbance observer, and here only the stability of the position disturbance observer is demonstrated, and the attitude loop stability demonstration process is similar.
The binding formula (7) can give:
constructing a lyapunov function:
i denotes a unit matrix.
By MpCharacteristic known Mp -1Is a positive definite matrix, and λ1>0, so:
therefore, according to the Lyapunov's stability theorem, the position loop linear disturbance observer designed by the formula (7) is globally asymptotically stable, and when t → ∞,
compared with the prior art, the invention has the advantages that:
(1) the technology is a modularized technology, can be embedded into any four-rotor control, and is combined with any control method, so that the anti-interference capability of the system is greatly enhanced. Compared with the existing anti-interference technology, the method can be more conveniently applied to actual requirements.
(2) The technology can optimize a plurality of control algorithms, and avoids the process of repeatedly adjusting a plurality of control parameters in practical application due to the characteristic of rapidly reflecting the dynamic deviation. For example, in the conventional PID control system, 9 parameters of the position loop and 6 parameters of the attitude loop need to be repeatedly and accurately adjusted to improve the dynamic and steady-state performance of the control system, and after the disturbance observer is added, only the proper PID parameters need to be adjusted, and then the lambda of the disturbance observer is accurately and independently adjusted1,λ2The dynamic and steady-state performance of the system can be greatly improved by two parameters.
Drawings
FIG. 1 is a block flow diagram of a strong micro-loop of the present invention;
fig. 2 is a quad-rotor control system with embedded strong micro-circulation small loops.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments, and all other embodiments obtained by a person skilled in the art based on the embodiments of the present invention belong to the protection scope of the present invention without creative efforts.
FIG. 1 is a block flow diagram of a strong micro-loop of the present invention; firstly, establishing a four-rotor unmanned aerial vehicle position and attitude dynamics model; then combining the position loop linear interference observers designed by the formulas (7), (8) and (9) to obtain a position loop interference estimated value; meanwhile, an attitude ring non-linear interference observer designed by the formulas (10), (11) and (12) obtains an attitude ring interference estimation value; and finally, the interference estimation values of the position ring and the attitude ring are used as feedforward compensation signals of respective controllers, so that the online detection and compensation of the composite interference are realized.
Fig. 2 shows an anti-interference control system of a self-healing quad-rotor unmanned aerial vehicle according to the present invention, in which an interference observer according to the present invention is embedded, the control system includes a position ring controller 1, an attitude ring controller 2, an actuator 3, a quad-rotor platform 4, a positioning unit 5, a gyroscope and accelerometer 6, a position interference observer 7, an attitude interference observer 8, an expected attitude generation module 9, and a communication unit 10;
the position ring controller 1 analyzes a deviation value of a given expected position or an expected track and current position and speed information measured and output by the positioning unit 5, and processes the deviation value by adopting a certain position control method to obtain a four-rotor control force for promoting the deviation value to tend to zero;
the attitude ring controller 2 analyzes the deviation values of the four-rotor expected attitude output by the menstrual expected attitude calculation module and the current attitude and angular speed information output by the gyroscope and the accelerometer 6 through measurement and processing, and processes the deviation values by adopting a certain attitude control method to obtain four-rotor control torque for promoting the deviation values to be zero;
the actuating mechanism 3 is four motors of four rotors, and the control unit distributes the control force and the torque output by the attitude ring controller 2 to the four motors in a linear distribution or nonlinear distribution mode; the four-rotor platform 4 represents the real four rotors in the experiment; the positioning unit 5 is used for measuring the position and speed information of the four rotors, and can adopt a GPS (global positioning system) positioning system (outdoor), a motion capture positioning system (indoor), an ultra-bandwidth positioning system (indoor) and other modes; the gyroscope and the accelerometer 6 are used for measuring attitude information of the four rotors, and the measured values of the gyroscope and the accelerometer are subjected to complementary filtering to obtain a relatively accurate attitude angle and angular velocity of the four rotors; the position disturbance observer 7 is used for observing external disturbance and internal disturbance which cause the position deviation of the four rotors;
the attitude disturbance observer 8 is used for observing external disturbance and internal disturbance which cause attitude deviation of the four rotors; the expected attitude generation module 9 converts the expected control force output by the position ring into the expected control attitude of the attitude ring, so as to achieve the effect of controlling the position of the quadrotors by changing the attitude of the quadrotors; the communication unit 10 is used for being responsible for the communication of four rotors and ground control unit, sends the attitude information that four rotor IMU unit measured to the control unit to give four rotors with the instruction motor signal feedback of control unit.
On the other hand, the self-healing quad-rotor unmanned aerial vehicle anti-interference control method provided by the invention comprises the following steps:
firstly, establishing a four-rotor dynamic model
And (3) giving a dynamic model of a position ring and a posture ring of the four rotors under an inertial coordinate system:
position ring:
an attitude ring:
wherein theta, phi and psi are Euler attitude angles of the four rotors and respectively represent a pitch angle, a roll angle and a yaw angle; dx,dy,dzD is defined for the interference force along all directions under the inertial coordinate systemp＝[dx,dy,dz]T(ii) a m is the total mass of the four rotors; u is the sum of the lift forces provided by the four propellers; eta ═ phi, theta, psi]TIs the attitude vector of four rotors; tau isηThe generalized moment corresponding to the generalized attitude variable of the four rotors is the control moment of the attitude ring; defining a position vector ξ ═ x, y, z]T(ii) a g is the acceleration of gravity;
a first derivative representing the signal Δ;
representing the second derivative of the signal delta.
Next, M in the formula (2)η(η) represents an inertia matrix of the attitude ring;
the inertia force and the Coriolis force of the attitude ring are shown, and the nonlinear part of the system is reflected. The specific expression is as follows:
wherein the simplified expression c*,s*Represents cos (, sin (). I isxx,Iyy,IzzThe unmanned aerial vehicle is the rotational inertia around each axis under the coordinate system of the body.
Secondly, a position loop linear interference observer 7 and an attitude loop nonlinear interference observer 8 are respectively designed by combining a four-rotor dynamic model;
first, a position loop linear disturbance observer is designed in combination with a position dynamics model.
Reducing formula (1) to a standard model expression:
wherein M isp＝diag[m,m,m]T，
Here, one auxiliary variable needs to be defined:
wherein,
is an auxiliary function;
representing an estimate of the signal delta.
Interference observer
The coefficient matrix satisfies the condition:
in combination with formulae (3), (4) and (5), we can obtain
In summary, the position loop linear disturbance observer is designed as follows:
wherein the auxiliary function
We design as follows:
wherein λ1To design the constants that determine the estimated update rate of the disturbance observer, from equation (5), one can derive
Expression (c):
Lp＝Mp -1λ1 (9)
and secondly, designing a non-linear disturbance observer of the attitude ring by combining the design process of the co-location disturbance observer with the attitude dynamic model (2).
Wherein:
Lη＝Mη -1λη (12)
wherein λ2To design the constants, it determines the estimated update rate of the attitude disturbance observer.
Therefore, a position loop linear disturbance observer NDO is designed by the equations (7), (8) and (9), and an attitude loop nonlinear disturbance observer is designed by the equations (10), (11) and (12);
and thirdly, the linear disturbance observer is proved by the stability of Lyapunov.
The position loop is structurally identical to the attitude disturbance observer, and here only the stability of the position disturbance observer is demonstrated, and the attitude loop stability demonstration process is similar.
The binding formula (7) can give:
constructing a lyapunov function:
i denotes a unit matrix.
By MpCharacteristic known Mp -1Is a positive definite matrix, and λ1>0, so:
therefore, the position of the design of the formula (7) can be known from the Lyapunov's stability theoremThe loop linear disturbance observer is stable asymptotically globally and, when t → ∞,
according to the self-healing quad-rotor unmanned aerial vehicle anti-interference control method and system, under the condition that the quad-rotor is easily subjected to multi-source interference such as internal interference, external interference and model uncertainty, a quad-rotor position ring and attitude ring dynamic model is established, and interference observers are respectively designed for the quad-rotor position ring and the attitude ring with the multi-source interference for disturbance estimation; according to the control method, the influence of multi-source interference is effectively inhibited and compensated through embedding an interference observer loop on the existing any four-rotor control method, and a Lyapunov function is designed to prove the stability of the control method; the designed anti-interference control method based on strong microcirculation small loop intelligent detection effectively improves the control precision of the quad-rotor unmanned aerial vehicle, the method runs in a position and attitude control module of a quad-rotor unmanned aerial vehicle platform in real time, and high-precision track tracking under the conditions of wind disturbance, motor faults and the like is realized by combining with the traditional control method. According to the invention, under the condition that the structure of the existing controller is not changed, the intelligent detection small loop is respectively embedded into the attitude ring and the position ring, so that the online detection and compensation of the compound interference are realized, the stability of the system is ensured, the flight robustness of the quad-rotor unmanned aerial vehicle in a complex environment is improved, the expandability of the controller is enhanced, the effectiveness and the engineering practicability of the quad-rotor unmanned aerial vehicle in inhibiting and compensating the compound interference are improved, and the anti-interference control problem of the quad-rotor unmanned aerial vehicle in tasks such as disaster rescue, environment detection, reconnaissance patrol and the like in the complex unknown environment can be solved.
Those skilled in the art will appreciate that the invention may be practiced without these specific details.
Although illustrative embodiments of the present invention have been described above to facilitate the understanding of the present invention by those skilled in the art, it should be understood that the present invention is not limited to the scope of the embodiments, but various changes may be apparent to those skilled in the art, and it is intended that all inventive concepts utilizing the inventive concepts set forth herein be protected without departing from the spirit and scope of the present invention as defined and limited by the appended claims.
Claims (4)
1. The utility model provides a four rotor unmanned aerial vehicle anti-interference control system of self-healing, a serial communication port, include:
the system comprises a control system, an actuating mechanism, a four-rotor platform, a positioning unit, a gyroscope, an accelerometer and a communication unit; the control system comprises a position ring controller, an attitude ring controller, a position disturbance observer, an attitude disturbance observer and an expected attitude generation module;
the position ring controller analyzes a deviation value of a given expected position or an expected track and current position and speed information measured and output by a positioning system, and processes the deviation value by adopting a position control method to obtain a four-rotor control force for promoting the deviation value to be zero;
the attitude ring controller analyzes the deviation values of the four-rotor expected attitude output by the expected attitude calculation module and the current attitude and angular velocity information output by the gyroscope and the accelerometer through measurement and processing, and processes the deviation values by adopting an attitude control method to obtain four-rotor control moment for promoting the deviation values to tend to zero;
the actuating mechanism is four motors of four rotors, and the control unit distributes the control torque output by the attitude ring controller to the four motors in a linear distribution or nonlinear distribution mode; the four-rotor platform is a real four-rotor;
the positioning unit is used for measuring the position and speed information of the four rotors, and adopts a GPS positioning system outdoors, a motion capture positioning system indoors or an ultra-bandwidth positioning system mode; the gyroscope and the accelerometer are used for measuring attitude information of the four rotors, and complementary filtering is carried out on the measurement values of the gyroscope and the accelerometer to obtain accurate attitude angles and angular velocities of the four rotors;
the position disturbance observer is used for observing external disturbance and internal disturbance which cause the position deviation of the four rotors; the attitude disturbance observer is used for observing external disturbance and internal disturbance which cause attitude deviation of the four rotors; the expected attitude generation module converts the expected control force output by the position ring controller into an expected control attitude of the attitude ring controller, so as to achieve the effect of controlling the position of the quadrotors by changing the attitude of the quadrotors; the communication unit is used for being responsible for the communication of four rotors and ground control unit, sends the attitude information that four rotor IMU units measured to the control unit to give four rotors with the instruction motor signal feedback of control unit.
2. A self-healing quad-rotor unmanned aerial vehicle anti-interference control method for the system of claim 1, wherein the method comprises the following steps: the interference control method in the position interference observer and the attitude interference observer comprises the following design steps:
step 1, analyzing by a general dynamic system, and designing an interference observer in an ideal state;
step 2, respectively designing a linear position disturbance observer and a nonlinear attitude disturbance observer by combining a four-rotor dynamic model and practical application analysis;
and 3, analyzing the stability of the designed interference observer by utilizing the Lyapunov stability theorem.
3. The self-healing quad-rotor unmanned aerial vehicle anti-interference control method according to claim 2, wherein the step 1 specifically includes:
(1.1) establishing a four-rotor dynamic model
And (3) giving a dynamic model of a position ring and a posture ring of the four rotors under an inertial coordinate system:
position ring:
an attitude ring:
wherein theta, phi and psi are Euler attitude angles of the four rotors and respectively represent a pitch angle, a roll angle and a yaw angle; dx,dy,dzD is defined for the interference force along all directions under the inertial coordinate systemp＝[dx,dy,dz]T(ii) a m is the total mass of the four rotors; u is the sum of the lift forces provided by the four propellers; eta ═ phi, theta, psi]TIs the attitude vector of four rotors; tau isηThe generalized moment corresponding to the generalized attitude variable of the four rotors is the control moment of the attitude ring; defining a position vector ξ ═ x, y, z]T(ii) a g is the acceleration of gravity;
a first derivative representing the signal Δ;
a second derivative representing the signal Δ;
(1.2) M in the formula (2)η(η) represents an inertia matrix of the attitude ring;
the inertia force and the Coriolis force of the attitude ring are represented, and the nonlinear part of the system is reflected; the specific expression is as follows:
c11＝0
wherein the simplified expression c*,s*Represents cos (, sin (); i isxx,Iyy,IzzThe unmanned aerial vehicle is the rotational inertia around each axis under the coordinate system of the body.
4. The self-healing quad-rotor unmanned aerial vehicle anti-interference control method according to claim 2, wherein the step 2 specifically includes:
respectively designing a position interference observer and an attitude interference observer by combining a four-rotor dynamic model; the position disturbance observer is a linear disturbance observer, and the attitude disturbance observer is a nonlinear disturbance observer;
(2.1) designing a linear position disturbance observer by combining a position dynamic model;
reducing formula (1) to a standard model expression:
wherein M isp＝diag[m,m,m]T，
And τpThe specific expression is as follows：
Defining an auxiliary variable:
wherein,
in order to be an auxiliary function,
an estimate representing the signal Δ;
interference observer
The coefficient matrix satisfies the condition:
combining formulae (3), (4), and (5), yielding:
in summary, the linear position disturbance observer is designed as follows:
wherein the auxiliary function
The design is as follows:
wherein λ1To design the constants, which determine the estimated update rate of the position disturbance observer, from equation (5) it is derived
Expression (c):
Lp＝Mp -1λ1 (9)
the output of the linear position disturbance observer (7)
As a feedforward signal of any position loop controller, the online detection and compensation of position loop interference are realized;
(2.2) designing a non-linear attitude disturbance observer by combining the attitude dynamics model (2) in the design process of the same-position disturbance observer;
wherein:
Lη＝Mη -1λη (12)
wherein λ2To design a constant, which determines the estimated update rate of the attitude disturbance observer; output of a non-linear attitude disturbance observer (10)
As any attitude ring controllerFeedforward signals are used for realizing online detection and compensation of the attitude loop interference;
therefore, a linear position disturbance observer is designed from equations (7), (8), and (9), and a nonlinear attitude disturbance observer is designed from equations (10), (11), and (12).
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| CN114924580A (en) * | 2022-06-13 | 2022-08-19 | 北京航空航天大学 | Interference elimination control method and system for high-speed quad-rotor unmanned aerial vehicle |
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