CN113885583A - L1 track tracking method applied to micro system - Google Patents
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Abstract
The invention discloses an L1 track tracking method applied to a microsystem, which comprises the following steps: firstly, acquiring real-time position and speed information of an unmanned aerial vehicle, and acquiring target route information; selecting a current time point to be adjusted, selecting a length L1, and finding a tracking reference point; and (4) obtaining the required acceleration value at the current moment according to the equivalent relation between the target acceleration and the centripetal acceleration, and repeating the steps at intervals of time points to realize track tracking. The invention sets a virtual point on the curve path as a pseudo target, the point moves along the target path, and simultaneously introduces an advanced control parameter L1, namely the distance between the current position of the unmanned aerial vehicle and the pseudo target point, so as to overcome the inherent defect of curve path tracking feedback control, provide a stable and continuous outer ring signal, namely an acceleration control target value, as the control input of an inner ring, and finally output a control quantity to an executing mechanism, thereby realizing the tracking of the unmanned aerial vehicle on the target track, and having good universality and stable performance.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an L1 track tracking method applied to a microsystem.
Background
At present, the track control is an important part in the autonomous control of the unmanned aerial vehicle, namely, the unmanned aerial vehicle performs autonomous tracking flight along a target route according to a set method. There are two common unmanned aerial vehicle track tracking methods. One approach is to separate the flight path tracking problem of the drone into a guidance loop for the outer loop and a control loop for the inner loop. The inner loop control causes the drone to follow the acceleration command generated by the outer loop. Strategies based on geometric and kinematic characteristics are commonly used in the outer loop guidance loop. Yet another approach is to use an integrated strategy, with the inner and outer rings designed to operate simultaneously. In this case, some modern control and design techniques such as rolling horizon control, differential smoothing, and adaptive control based on neural networks may be applied.
The integrated microsystem technology is a new technology for designing and manufacturing a chip-level micro electronic system with complex functions in a three-dimensional integrated structural form by using various advanced components with different functions through heterogeneous integration technology. When the technology is applied to a flight control system, the problems of data precision and stability caused by the fact that each sensor is miniaturized by using a micro-system technology are faced, and the flight control system is required to optimize original software and algorithms, including attitude control, height control, speed control and track tracking control. In the track following control method, a method for separating an inner ring from an outer ring is more common in practical application, because the method is simpler and easier to establish for inner ring control of the unmanned aerial vehicle. A conventional Proportional Derivative (PD) controller can be used to control the track error. This simple strategy can provide good outer loop performance if the target path is a straight line, regardless of microsystem conditions. However, when a task needs to closely track a complex curved path, in the face of the situation that the accuracy of a sensor is reduced under the condition of a micro system, a linear model cannot be accurately established, and the linear feedback of the flight path error cannot provide satisfactory performance. In view of the above, it is urgently needed to provide a track tracking method under a microsystem.
Disclosure of Invention
The invention aims to provide an L1 track tracking method applied to a micro system, which is independent of a linear model, has applicability and robustness and solves the problem of reduced sensor precision under the technical condition of the micro system.
The technical scheme adopted by the invention is as follows:
an L1 track tracking method applied to a microsystem comprises the following steps:
a: firstly, acquiring real-time position and speed information of an unmanned aerial vehicle, and acquiring target route information;
b: selecting a current time point to be adjusted, selecting a length L1, taking the position of the unmanned aerial vehicle at the current time point as a starting point, taking a point on a target route as a terminal point, finding a position point which is L1 away from the starting point along the target route, and defining the position point as a tracking reference point; connecting the current unmanned aerial vehicle position point with a tracking reference point, wherein the length of the connecting line is L1;
c: calculating an included angle beta between a connecting line L1 and the current speed direction of the unmanned aerial vehicle, defining a circular path at the time point, forming a circular arc passing through the tracking reference point and the current position of the unmanned aerial vehicle and being tangent to the speed direction of the unmanned aerial vehicle, recording the radius of the circle as R, and taking the connecting line L1 as a chord on the circle, further obtaining the following relation:
R = L1/(2sinβ) （2）
d: solving the magnitude of the acceleration value required when the unmanned aerial vehicle moves smoothly from the current position to the tracking reference point; specifically, since the required acceleration is equal to the centripetal acceleration for tracking the instantaneous arc, the centripetal acceleration a _ cmd can be calculated by the centripetal equation of circular motion as follows:
a_cmd = V2/R （3）
further substituting equation (2) into equation (3) yields:
a_cmd = 2V2sinβ/L1 （4）
the value of the target centripetal acceleration a _ cmd at the time point is the required acceleration value;
e, obtaining the acceleration required at the current moment, sending the acceleration to an inner loop control, wherein the inner loop control obtains a control quantity and sends control information to an execution mechanism, so that the unmanned aerial vehicle is operated to perform position tracking response at the time point;
f: after the unmanned plane moves through the L1 track tracking method at this time point, the steps B-E are repeated at the next time point until the tracking is finished.
The L1 is adjustable in length.
The time point interval is generally the position information acquisition period of the position sensor of the unmanned aerial vehicle system.
Under the condition that the precision of a sensor is reduced when a micro-system technology is used, when an unmanned aerial vehicle ground control station needs the unmanned aerial vehicle to execute a curve path, a virtual point is set on the curve path to serve as a pseudo target, the point moves along the target path, and meanwhile, an advance control parameter L1 is introduced, namely the distance between the current position of the unmanned aerial vehicle and the pseudo target point, so that the inherent defect of curve path tracking feedback control is overcome, a stable and continuous outer ring signal, namely an acceleration control target value, is provided to serve as the control input of an inner ring, and finally, a control quantity is output to an execution mechanism, so that the unmanned aerial vehicle can track a target track, and the unmanned aerial vehicle has the advantages of good universality and stable performance.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic view of the line L1 determination of the present invention;
FIG. 2 is a control schematic block diagram of the present invention;
FIG. 3 is a schematic view of the present invention in continuous action tracking;
the meaning of each symbol in the figure is: v, unmanned aerial vehicle speed; r, passing through the radius of the circle of the unmanned aerial vehicle position and the tracking reference point; l1, a line segment connecting the drone position with the tracking reference point; β, L1 from V.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the 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, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
The following embodiments are provided to illustrate specific steps and processes of the present invention, and the detailed implementation of the L1 track tracking method in the embodiments is shown in fig. 1-3. After receiving the target route and receiving the track tracking command, as shown in fig. 1, first obtaining the position and speed information of the unmanned aerial vehicle and simultaneously obtaining the target route information.
Further, a length L1 is selected, a position point which is far from the starting point L1 is found along the target route by taking the current unmanned aerial vehicle position as the starting point and taking a point on the target route as the terminal point, and the position point is defined as a tracking reference point. Connecting the current drone location point with the tracking reference point, obviously this link length is L1.
Further, an angle β between the line L1 and the current speed direction of the drone may be calculated, and at this point in time, a circular path may be defined, which passes through the tracking reference point and the current position of the drone, forming an arc and tangent to the speed direction of the drone, with a radius R and L1 being a chord on the circle. Further, the following relationship can be obtained:
L1 = 2Rsinβ （1）
further finishing to obtain
R = L1/(2sinβ) （2）
Further, when the unmanned aerial vehicle moves to the tracking reference point smoothly from the current position, the required acceleration value is equal to the centripetal acceleration for tracking the instantaneous arc, and the centripetal acceleration a _ cmd can be calculated by a centripetal force formula of circular motion as follows:
a_cmd = V2/R （3）
further substituting equation (2) into equation (3) yields:
a_cmd = 2V2sinβ/L1 （4）
so far, the current speed V and the distance L1 of the drone are known, the included angle β between the speed and L1 can be calculated, and the target centripetal acceleration a _ cmd at this time point is obtained here, and further the drone enters the inner loop control in this embodiment to obtain a control quantity, and in this embodiment, the control of the actuator is performed, so that the drone is operated to perform the position tracking response at this time point.
Further, when the unmanned aerial vehicle moves through the L1 track tracking method at this time point, a new tracking reference point is also generated at the next time point, and the value of the acceleration depends on the included angle β between the L1 segment and the speed direction of the unmanned aerial vehicle. As shown in fig. 3, in an embodiment where the tracking reference point is to the right of the drone's velocity direction, the drone would be commanded to accelerate to the right, in other words, the drone would always tend to align its velocity direction with the direction of the L1 line segment.
After each time point is connected, the motion direction of the unmanned aerial vehicle is guided by a tracking reference point, track tracking is realized by taking an L1 line segment as an introduction line along a target route, and the motion curve of the unmanned aerial vehicle is superposed with the target route.
The minimum value of the length of the L1 is the minimum connecting line length between the current position of the unmanned aerial vehicle and the target position on the target track when the track tracking starts, and the maximum value is the maximum connecting line length between the current position of the unmanned aerial vehicle and the target position on the target track when the track tracking starts, and the L1 can determine the convergence speed of the unmanned aerial vehicle tracking the target track without influencing the final effect of the target tracking, namely when the L1 is large, the unmanned aerial vehicle approaches the target track at a slower moving speed, and when the L1 hours, the unmanned aerial vehicle approaches the target track more quickly, but finally converges on the target track. Aiming at different unmanned aerial vehicles and different flight tasks, the expected tracking effect of the tasks can be achieved through the adjustment of the value in the flight process.
The smaller the time interval is, the better the time interval is theoretically, so as to obtain a more continuous and accurate tracking effect, and actually depends on the refresh frequency of the unmanned aerial vehicle control system and the frequency of the position sensor for acquiring the position information, generally, the refresh frequency of the existing unmanned aerial vehicle control system is higher than the acquisition frequency of the position sensor, that is, the data update period of the position sensor is the optimal time interval of the L1 tracking method, if the time interval is greater than the update period of the position sensor, control delay is caused, the actual tracking track effect in the tracking process is deteriorated, and if the time interval is less than the update period of the position sensor, repeated control processes and control quantity are generated, the overhead of the whole control system is wasted, and control redundancy is caused.
The embodiment constructs a typical unmanned aerial vehicle track tracking task flow, and the names of the functional modules and the signal definitions and flow directions of the flow nodes are determined from the generation of the target route to the final executor. In a more detailed implementation, as shown in fig. 2, the ground station is used to generate a target route that the unmanned aerial vehicle needs to fly, and the target route is transmitted to the flight control micro-system via a communication link, the flight control micro-system hardware adopts a microprocessor based on an ARM code-M4 architecture, and software is directly written by using C language codes and mainly includes control instruction resolving and communication management. After the flight control microsystem obtains the target air route through the communication link, further, obtain the real-time position and the velocity information of unmanned aerial vehicle from unmanned aerial vehicle department, through L1 flight path tracking method with the target air route after output inner loop control required target acceleration value, further, inner loop control will combine this target acceleration value and the real-time gesture and the acceleration information that unmanned aerial vehicle obtained to calculate output control volume to actuating mechanism through the algorithm, common actuating mechanism includes steering wheel, motor and switch etc. further, actuating mechanism operates unmanned aerial vehicle through the execution volume and carries out the response of track tracking for unmanned aerial vehicle flies according to the target air route.
In order to adapt to a low-precision sensor under the micro-system technology, the invention determines a track tracking method which is designed by separately using an outer ring and an inner ring, the design of the outer ring is completed by using an L1 track tracking method, a reference instruction generated by the outer ring is input into the inner ring, and the inner ring generates a final control quantity to guide the unmanned aerial vehicle to move to a target position.
Firstly, in the flight mission of the unmanned aerial vehicle, a ground station plans a target flight path and uploads the target flight path to an unmanned aerial vehicle system through a wireless link, after the unmanned aerial vehicle determines the current position and the speed V by itself, a fixed distance L1 is used as a scale to find a position point which is L1 away from the target flight path, the position point is defined as a tracking reference point, at the moment, a connecting line between the current position of the unmanned aerial vehicle and the tracking reference point can be made, and the length is L1. Further, an included angle β between the current speed direction of the unmanned aerial vehicle and a line L1 can be calculated. Further, at each time point, a circular path may be defined which passes through the tracking reference point and the current position of the drone and is tangential to the direction of the drone speed, with radius R and L1 being a chord on the circle. Further, the relationship between the distance L1, the radius R and the tangent angle β can be obtained according to the mathematical chord length calculation principle, i.e. L1=2Rsin β. Further, when the unmanned aerial vehicle is required to move smoothly from the current position to the tracking reference point, the required acceleration value is equal to the centripetal acceleration for tracking the instantaneous arc. Further, the centripetal acceleration a _ cmd = V at the moment can be calculated by the principle of physical centripetal force2and/R. Further, according to the relationship among the distance L1, the radius R and the tangent angle beta obtained previously, replacing the R with the distance L1 and the tangent angle beta can obtain the relationship among the required acceleration value, the current speed V of the unmanned aerial vehicle, the distance L1 and the tangent angle beta, namely a _ cmd =2V2sin beta/L1. So far, all parameters used for calculating the acceleration value moving from the current position of the unmanned aerial vehicle to the tracking reference point are that the unmanned aerial vehicle can independently acquire or calculate, and at the next time point, along with the movement of the tracking reference point on the target flight path, the unmanned aerial vehicle approaches the target flight path more and more, so that the tracking of the target flight path is realized.
According to the method, a virtual tracking reference point is generated on a target route according to the distance L1, the target control quantity of track tracking is generated by adopting the equivalent relation between the target acceleration and the centripetal acceleration, and the tracking reference point is updated along the target route at all times along with the updating of each resolving time point, so that the tracking on a complex curve path can be completed under the condition of using a micro-system technology, the track tracking outer-loop target quantity is obtained independently from inner-loop control, and the generation of the outer-loop target quantity is unrelated to what control algorithm is used by the inner-loop control.
The L1 track tracking method applied to the micro system does not depend on the traditional PD proportional regulator, does not need to establish a linear model, and firstly solves the problem of carrying out complicated curve path track tracking under the conditions that the sensor precision is poor and the linear model cannot be accurately established under the micro system technology; and secondly, an outer ring and an inner ring of the track tracking are separated, the outer ring gives out a target acceleration value by using an L1 track tracking method, the inner ring control can independently select any control algorithm according to the actual situation, and more algorithm types are provided with applicability under different use conditions, so that the method has higher adaptability.
In the description of the present invention, it should be noted that, for the terms of orientation, such as "central", "lateral", "longitudinal", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., it indicates that the orientation and positional relationship shown in the drawings are based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, but does not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated without limiting the specific scope of protection of the present invention.
It is noted that the terms first, second and the like in the description and in the claims of the present application are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the application of the principles of the technology. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the specific embodiments described herein, and may include more effective embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (3)
1. An L1 track tracking method applied to a microsystem is characterized in that: the method comprises the following steps:
a: firstly, acquiring real-time position and speed information of an unmanned aerial vehicle, and acquiring target route information;
b: selecting a current time point to be adjusted, selecting a length L1, taking the position of the unmanned aerial vehicle at the current time point as a starting point, taking a point on a target route as a terminal point, finding a position point which is L1 away from the starting point along the target route, and defining the position point as a tracking reference point; connecting the current unmanned aerial vehicle position point with a tracking reference point, wherein the length of the connecting line is L1;
c: calculating an included angle beta between a connecting line L1 and the current speed direction of the unmanned aerial vehicle, defining a circular path at the time point, forming a circular arc passing through the tracking reference point and the current position of the unmanned aerial vehicle and being tangent to the speed direction of the unmanned aerial vehicle, recording the radius of the circle as R, and taking the connecting line L1 as a chord on the circle, further obtaining the following relation:
R = L1/(2sinβ) （2）
d: solving the magnitude of the acceleration value required when the unmanned aerial vehicle moves smoothly from the current position to the tracking reference point; specifically, since the required acceleration is equal to the centripetal acceleration for tracking the instantaneous arc, the centripetal acceleration a _ cmd can be calculated by the centripetal equation of circular motion as follows:
a_cmd = V2/R （3）
further substituting equation (2) into equation (3) yields:
a_cmd = 2V2sinβ/L1 （4）
the value of the target centripetal acceleration a _ cmd at the time point is the required acceleration value;
e, obtaining the acceleration required at the current moment, sending the acceleration to an inner loop control, wherein the inner loop control obtains a control quantity and sends control information to an execution mechanism, so that the unmanned aerial vehicle is operated to perform position tracking response at the time point;
f: after the unmanned plane moves through the L1 track tracking method at this time point, the steps B-E are repeated at the next time point until the tracking is finished.
2. The L1 track following method applied to micro system as claimed in claim 1, wherein: the L1 is adjustable in length.
3. The L1 track following method applied to micro system as claimed in claim 2, wherein: the time point interval is generally the position information acquisition period of the position sensor of the unmanned aerial vehicle system.
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