CN113419552B - Vector control method for transverse double-rotor unmanned aerial vehicle - Google Patents
Vector control method for transverse double-rotor unmanned aerial vehicle Download PDFInfo
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Abstract
The invention discloses a vector control method for a transverse double-rotor unmanned aerial vehicle. Constructing a design sliding mode controller according to a dynamic model of the dual-rotor unmanned aerial vehicle; the method comprises the steps of processing the expected position and the expected speed of the double-rotor unmanned aerial vehicle according to the input expected position and the expected speed of the double-rotor unmanned aerial vehicle to obtain the acceleration of the double-rotor unmanned aerial vehicle under a world coordinate system, then calculating the control quantity of an actuator of the double-rotor unmanned aerial vehicle, and superposing the control quantity of the actuator to the control quantities of a pitching channel and a yawing channel through a hybrid controller to obtain the output quantity of the actuator of the double-rotor unmanned aerial vehicle so as to control the vector flight of the double-rotor unmanned aerial vehicle. According to the method, vector control is realized by adopting sliding mode control based on the virtual control quantity, virtual control quantity calculation and mixed controller design, the complexity of the controller is simplified, and the method is easy to deploy at an embedded end.
Description
Technical Field
The invention relates to a flight control method of an unmanned aerial vehicle in the field of unmanned aerial vehicles, in particular to a vector control method of a transverse double-rotor unmanned aerial vehicle.
Background
Two rotor unmanned aerial vehicle of horizontal formula, mainly used tactics transportation, the passenger traffic, the medical treatment, search and rescue, tasks such as agricultural plant protection, main advantage lies in its two rotor unmanned aerial vehicle transversely settle, the vertical volume of fuselage reduces, the power consumption who has lacked two rotors and motor for four rotors, holistic consumption reduces, duration is stronger, the direct benefit of bringing is that its carrying capacity compares in traditional four rotors has obvious promotion under the same volume, the load-carrying capacity is also bigger.
In recent years, the multi-rotor aircraft obtains more and more extensive application in military and civil fields, and the current multi-rotor aircraft mainly adopts a four-rotor and six-rotor structure, and the rotors of the multi-rotor aircraft can not tilt, and the thrust direction is fixed and can not realize thrust vector control. Along with the improvement of unmanned vehicles task complexity, the many rotor crafts limitation of fixed thrust direction is also bigger and bigger, and thrust vector control has very critical effect to unmanned vehicles' mobility, and the double-rotor unmanned vehicles vector aircraft of horizontal formula is as a novel unmanned aerial vehicle structure, possesses the duration and combines with the fixed wing and realizes advantages such as VTOL (vertical take-off and landing, VTOL), and its flight envelope curve will be greater than fixed wing and rotor plane, possesses bigger flight range.
At present, a flight control algorithm of a double-rotor unmanned aerial vehicle is very complex, the control of rotors is considered, the characteristics of the steering engine in the aspects of tilting and the like are also considered, and the requirements on the flight control algorithm and a control system thereof are far higher than those of four rotors.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a vector control method for a transverse double-rotor unmanned aerial vehicle. According to the invention, vector control (control of the height position and the pitch channel position of the dual-rotor unmanned aerial vehicle) is realized by adopting sliding mode control based on virtual control quantity, virtual control quantity calculation and mixed controller design, the complexity of the controller is simplified, and the embedded type hybrid controller is easy to deploy at an embedded end.
In order to achieve the technical purpose, as shown in fig. 1, the technical solution of the present invention is:
the method comprises the following steps:
1) constructing a design sliding mode controller according to a dynamic model of the dual-rotor unmanned aerial vehicle;
2) the sliding mode controller processes and obtains the acceleration u of the twin-rotor unmanned aerial vehicle in the x-axis direction and the z-axis direction under the world coordinate system according to the input expected position and the expected speed of the twin-rotor unmanned aerial vehiclex、uzThen the acceleration u is measuredx、uzThe control quantity of the actuator of the double-rotor unmanned aerial vehicle is solved, the angle delta of tilting of the steering engine in the double-rotor unmanned aerial vehicle and the thrust f generated by a single rotor of the double-rotor unmanned aerial vehicle are included, and the specific formula is as follows:
δ＝-a-θ
in the formula, delta represents the tilting angle of a steering engine in the dual-rotor unmanned aerial vehicle, theta represents the pitch angle of the dual-rotor unmanned aerial vehicle, and a represents the tilting angle of the dual-rotor unmanned aerial vehicle in the direction of the required thrust F; f represents the thrust generated by a single rotor of a dual rotor drone; m represents the mass of the twin rotor drone;
3) the output quantity delta of the actuator of the dual-rotor unmanned aerial vehicle is obtained by adding the control quantity delta and f of the actuator to the control quantity of the pitching channel and the control quantity of the yawing channel through the hybrid controllerL,δR,fL,fRAnd then control two rotor unmanned aerial vehicle vector flight, specific formula:
δL＝δ+δψ
δR＝δ-δψ
fL＝f+fφ
fR＝f-fφ
wherein, deltaL,δRRespectively representing the inclination angles, f, of two steering engines on two rotors of a twin-rotor unmanned aerial vehicleL,fRRespectively representing the thrust generated by the two rotors of a twin-rotor drone, deltaψShows the steering gear tilt control amount of the yaw path, fφIndicating the amount of control of the rotor thrust of the roll path.
The actuator comprises a motor and a steering engine, the motor is arranged on an output shaft of the steering engine, the steering engine drives the motor to incline, and the actuator is used for controlling the rotating speed of the motor and the inclination angle of the motor driven by the steering engine to incline.
The sliding mode controller in the step 1) is specifically as follows:
first, the slip-form surface is constructed according to the following formula:
ex＝xd-x
ez＝zd-z
in the formula, sx、szSliding mode variables along the x-axis and z-axis, xdX respectively representing the desired and actual positions of the twin rotor drone on the x-axis,
respectively representing the desired speed and the actual speed of the twin-rotor unmanned aerial vehicle on the x-axis, ex、
Respectively representing the deviation between the expected position and the actual position of the twin-rotor unmanned plane on the x axis and the expected speedDeviation between the degree and the actual speed; z is a radical ofdZ respectively represent the desired and actual positions of the twin rotor drone in the z-axis,
respectively representing the desired and actual speed of the twin-rotor drone in the z-axis, ez、
Respectively representing the position deviation and the speed deviation of the dual-rotor unmanned aerial vehicle on the z axis;
then designing a sliding mode index approach law:
in the formula, epsilon represents the speed of a near sliding mode surface s being 0, k represents an exponential convergence coefficient, sgn is a sign function, and s represents a sliding mode variable;
and (3) combining the sliding mode surface and the sliding mode index approach law to construct the following sliding mode control law:
wherein the content of the first and second substances,
the derivatives of the sliding mode variables along the x-axis and z-axis respectively,
represents the deviation of the expected acceleration and the actual acceleration of the dual-rotor unmanned plane in the x axis and the z axis,
representing the desired acceleration of the twin rotor drone in the x-axis,
representing the desired acceleration, u, of a twin rotor drone in the z-axisxRepresents the acceleration, u, of the twin-rotor unmanned aerial vehicle in the direction of the x-axis under the world coordinate systemzAnd the acceleration of the dual-rotor unmanned aerial vehicle in the z-axis direction under the world coordinate system is represented.
According to the method, the control model of the virtual control quantity is established at first, so that the design difficulty of the sliding mode controller is reduced. And the sliding mode control is designed by utilizing the control model information to control the height position and the pitching channel position of the double-rotor unmanned aerial vehicle. And finally, realizing the output of the control quantity of the control actuator through virtual control quantity calculation and mixed controller design.
According to the invention, a world coordinate system is established, the connecting line direction between the dual-rotor unmanned aerial vehicles is taken as the y-axis direction, the vertical gravity is downwards taken as the z-axis direction, and the direction perpendicular to the y-axis direction and the z-axis direction is taken as the x-axis direction. As shown in fig. 2, the world coordinate system, xw、zwRespectively represent the x-axis direction and the z-axis direction of the dual-rotor unmanned aerial vehicle under a world coordinate system. The x-axis and z-axis movements represent pitch and yaw movements, respectively.
The invention has the following beneficial effects brought by adopting the technical scheme:
1. the controller framework is simple and is easy to deploy on the embedded device.
2. The design difficulty of the sliding mode controller is further reduced by using the virtual control quantity, and the method is simpler.
3. The use of sliding modes may improve the noise immunity characteristics of the system.
Drawings
FIG. 1 is a schematic flow diagram of the present invention.
Figure 2 is a schematic diagram of a dual rotor drone model.
Figure 3 is a schematic view of a dual rotor drone in flight.
Figure 4 is a graph of dual rotor drone x-axis position response.
Figure 5 is a graph of dual rotor drone z-axis position response.
Detailed Description
The specific working process of the invention is further explained in detail in the following with the attached drawings.
As shown in fig. 2, the implementation of the invention is different from the four-rotor type, and the actuators are changed into two rotors and two steering engines. As an unmanned aerial vehicle of novel structure, the double rotor unmanned aerial vehicle vector aircraft stability of tandem is lower, anti-wind disturbance ability is relatively poor, the controlled variable of this aircraft is the rotational speed of two motors and the angle of verting of two steering wheels respectively, its control strategy also is different with ordinary many rotor crafts, yawing motion is by controlling two rotors differential control of verting around simultaneously, pitching motion is by controlling two rotors forward simultaneously or backward control of verting, rolling motion is by controlling the rotational speed difference control of two rotors.
The method can solve the technical problems of low stability and poor wind disturbance resistance of the vector aircraft of the horizontal dual-rotor unmanned aerial vehicle, and can realize stable flight and good wind resistance through the control of the method.
In the invention, a position control model of virtual control quantity is established as a dynamic model in the x-axis direction and the z-axis direction under a world coordinate system:
wherein F represents the thrust required by each rotor of the twin-rotor drone, and m represents the mass of the twin-rotor drone; delta represents the tilting angle of the steering engine of the double-rotor unmanned aerial vehicle; theta is the pitch angle of the dual rotor unmanned aerial vehicle, ux、uzThe acceleration values are virtual control quantities and respectively represent the acceleration of the dual-rotor unmanned aerial vehicle in the x-axis direction and the z-axis direction under the world coordinate system; g is the acceleration of gravity;
representing the acceleration of the twin rotor drone in the direction of the x axis,
representing the acceleration of the twin-rotor unmanned aerial vehicle in the z-axis direction; dxAnd dzRepresenting perturbations in the x-axis and z-axis directions, respectively.
The relationship among the pitch angle theta, the steering engine tilting angle delta and the thrust F required by the rotor of the dual-rotor unmanned aerial vehicle set by the invention is shown in figure 3, and the direction of the thrust F of the dual rotor is formed by superposing the pitch angle theta and the steering engine tilting angle delta in figure 3.
As shown in fig. 1, the embodiment of the present invention and its implementation are as follows:
1) constructing a design sliding mode controller according to a dynamic model of the dual-rotor unmanned aerial vehicle;
1) the sliding mode controller in (1) is specifically as follows:
first, the slip-form surface is constructed according to the following formula:
ex＝xd-x
ez＝zd-z
in the formula, sx、szSliding mode variables along the x-axis and z-axis, xdX respectively representing the desired and actual positions of the twin rotor drone on the x-axis,
representing the desired and actual speed, e, respectively, of the twin-rotor drone in the x-axisx、
Respectively representing the deviation between the expected position and the actual position of the dual-rotor unmanned plane on the x axis and the deviation between the expected speed and the actual speed; zd, z represent the desired and actual positions of the twin rotor drone in the z-axis respectively,
respectively representing the desired and actual speed of the twin-rotor drone in the z-axis, ez、
Respectively representing the position deviation and the speed deviation of the dual-rotor unmanned aerial vehicle on the z axis, wherein the position deviation is the deviation between an expected position and an actual position, and the speed deviation is the deviation between an expected speed and an actual speed;
then designing a sliding mode index approach law:
in the formula, epsilon represents the speed of a near sliding mode surface s equal to 0, k represents an exponential convergence coefficient, sgn is a sign function, and s represents a sliding mode variable;
combining the sliding mode surface and the sliding mode index approaching law to construct the following sliding mode control law:
wherein the content of the first and second substances,
the derivatives of the sliding mode variables along the x-axis and z-axis respectively,
represents the deviation of the expected acceleration and the actual acceleration of the dual-rotor unmanned plane in the x axis and the z axis,
representing the desired acceleration of the twin rotor drone in the x-axis,
representing the desired acceleration, u, of a twin rotor drone in the z-axisxRepresents the acceleration, u, of the twin-rotor unmanned aerial vehicle in the direction of the x-axis under the world coordinate systemzAnd the acceleration of the dual-rotor unmanned aerial vehicle in the z-axis direction under the world coordinate system is represented.
2) The sliding mode controller obtains the actual position and the actual speed according to the input expected position and the expected speed of the double-rotor unmanned aerial vehicle through the acquisition of a sensor inside the double-rotor unmanned aerial vehicle, and the acceleration u of the double-rotor unmanned aerial vehicle in the x-axis direction and the z-axis direction under the world coordinate system is obtained through processingx、uzThen the acceleration u is measuredx、uzThe control quantity of the actuator of the double-rotor unmanned aerial vehicle is solved, the angle delta of tilting of the steering engine in the double-rotor unmanned aerial vehicle and the thrust f generated by a single rotor of the double-rotor unmanned aerial vehicle are included, and the specific formula is as follows:
δ＝-a-θ
in the formula, delta represents the tilting angle of a steering engine in the dual-rotor unmanned aerial vehicle, theta represents the pitch angle of the dual-rotor unmanned aerial vehicle, and a represents the tilting angle of the dual-rotor unmanned aerial vehicle in the direction of the required thrust F; f represents the thrust generated by a single rotor of a dual rotor drone; m represents the mass of the twin rotor drone;
3) the output quantity delta of the actuator of the dual-rotor unmanned aerial vehicle is obtained by adding the control quantity delta and f of the actuator to the control quantity output by the pitching channel and the yawing channel through the hybrid controllerL,δR,fL,fRAnd then control two rotor unmanned aerial vehicle vector flight, specific formula:
δL＝δ+δψ
δR＝δ-δψ
fL＝f+fφ
fR＝f-fφ
wherein, deltaL,δRRespectively representing the inclination angles, f, of two steering engines on two rotors of a twin-rotor unmanned aerial vehicleL,fRRespectively representing the thrust, delta, generated by the two rotors of a twin-rotor droneψShows the steering gear tilt control amount of the yaw path, fφIndicating the amount of control of the rotor thrust of the roll path.
In order to verify the feasibility, the method of the invention utilizes Matlab to simulate and adds various disturbances to increase the reliability of the simulation.
Setting an expected x-axis position 1m, wherein the expected speed and the acceleration are 0, specifically adding a certain amount of disturbance test and acquisition in Matlab simulation to obtain an x-axis position response curve of the dual-rotor unmanned aerial vehicle, and the result is shown in FIG. 4, wherein it can be seen in FIG. 4 that the dual-rotor unmanned aerial vehicle is stabilized at the set expected x-axis position.
Setting the expected position 3m of the z axis, the expected speed and the acceleration to be 0, specifically adding a certain amount of disturbance test and acquisition in Matlab simulation to obtain a z-axis position response curve of the dual-rotor unmanned aerial vehicle, and the result is shown in FIG. 5, wherein it can be seen in FIG. 5 that the dual-rotor unmanned aerial vehicle is stabilized at the set expected position of the z axis
The vector control method is feasible in double-rotor unmanned aerial vehicle control and has good robustness and disturbance resistance.
Claims (2)
1. A vector control method for a transverse double-rotor unmanned aerial vehicle is characterized by comprising the following steps:
the method comprises the following steps:
1) constructing a design sliding mode controller according to a dynamic model of the dual-rotor unmanned aerial vehicle;
2) the sliding mode controller processes and obtains the acceleration u of the twin-rotor unmanned aerial vehicle in the x-axis direction and the z-axis direction under the world coordinate system according to the input expected position and the expected speed of the twin-rotor unmanned aerial vehiclex、uzThen the acceleration u is measuredx、uzThe control quantity of the actuator of the double-rotor unmanned aerial vehicle is solved, the angle d of tilting of the steering engine in the double-rotor unmanned aerial vehicle and the thrust f generated by a single rotor of the double-rotor unmanned aerial vehicle are included, and the specific formula is as follows:
d＝-a-θ
in the formula, d represents the tilting angle of a steering engine in the dual-rotor unmanned aerial vehicle, theta represents the pitch angle of the dual-rotor unmanned aerial vehicle, and a represents the tilting angle of the dual-rotor unmanned aerial vehicle in the direction of the required thrust F; f represents the thrust generated by a single rotor of a dual rotor drone; m represents the mass of the twin rotor drone;
3) the output quantity d of the actuator of the dual-rotor unmanned aerial vehicle is obtained by superposing the control quantity delta and f of the actuator to the control quantity of a pitching channel and a yawing channel through a mixer controllerL,dR,fL,fRAnd then control two rotor unmanned aerial vehicle vector flight, specific formula:
dL＝d+dy
dR＝d-dy
fL＝f+fφ
fR＝f-fφ
wherein, dL,dRRespectively representing the inclination angles, f, of two steering engines on two rotors of a twin-rotor unmanned aerial vehicleL,fRRespectively representing the thrust generated by the two rotors of a twin-rotor unmanned aerial vehicle, dyShows the steering gear tilt control amount of the yaw path, fφA control quantity indicative of a rotor thrust of the roll path;
the sliding mode controller in the step 1) is specifically as follows:
first, the slip-form surface is constructed according to the following formula:
ex＝xd-x
ez＝zd-z
in the formula, sx、szSliding mode variables along the x-axis and z-axis, xdAnd x respectively represent the expected position and the actual position of the dual-rotor unmanned plane on the x axis,
representing the desired and actual speed, e, respectively, of the twin-rotor drone in the x-axisx、
Respectively representing the deviation between the expected position and the actual position of the dual-rotor unmanned plane on the x axis and the deviation between the expected speed and the actual speed; z is a radical ofdZ respectively represent the desired and actual positions of the twin rotor drone in the z-axis,
respectively representing the desired and actual speed of the twin-rotor drone in the z-axis, ez、
Respectively representing the position deviation and the speed deviation of the dual-rotor unmanned aerial vehicle on the z axis;
then designing a sliding mode index approach law:
in the formula, e represents the speed of a near sliding mode surface s being 0, k represents an exponential convergence coefficient, sgn is a sign function, and s represents a sliding mode variable;
and (3) combining the sliding mode surface and the sliding mode index approach law to construct the following sliding mode control law:
wherein the content of the first and second substances,
the derivatives of the sliding mode variables along the x-axis and z-axis respectively,
represents the deviation of the expected acceleration and the actual acceleration of the dual-rotor unmanned plane in the x axis and the z axis,
representing the desired acceleration of the twin rotor drone in the x axis,
representing the desired acceleration, u, of a twin rotor drone in the z-axisxRepresents the acceleration, u, of the twin-rotor unmanned aerial vehicle in the direction of the x-axis under the world coordinate systemzAnd the acceleration of the dual-rotor unmanned aerial vehicle in the z-axis direction under the world coordinate system is represented.
2. The vector control method of a tandem twin rotor drone of claim 1 wherein: the actuator comprises a motor and a steering engine, the motor is arranged on an output shaft of the steering engine, the steering engine drives the motor to incline, and the actuator is used for controlling the rotating speed of the motor and the inclination angle of the motor driven by the steering engine to incline.
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