CN115509250A - Finite-time attitude tracking control system of quad-rotor unmanned aerial vehicle - Google Patents
Finite-time attitude tracking control system of quad-rotor unmanned aerial vehicle Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The invention discloses a finite time attitude tracking control system of a quad-rotor unmanned aerial vehicle, which comprises a path planning subsystem, a path planning subsystem and a control subsystem, wherein the path planning subsystem is used for planning a path between flight starting points of the quad-rotor unmanned aerial vehicle; the flight data acquisition subsystem is used for acquiring flight data of the quad-rotor unmanned aerial vehicle; the data analysis subsystem is used for analyzing the flight data, generating a control command and transmitting the control command to the flight control subsystem; and the flight control subsystem is used for adjusting the flight state of the quad-rotor unmanned aerial vehicle according to the control command. The invention realizes the path planning and the obstacle identification before the quad-rotor unmanned aerial vehicle flies by the three-dimensional laser point cloud technology, determines the attitude transformation of the unmanned aerial vehicle flying to the obstacle, and simultaneously sets the threshold values of the speed and the height in the flying process according to the actual requirement, thereby realizing the tracking control of the flying process.
Description
Technical Field
The invention belongs to the field of unmanned aerial vehicle control, and particularly relates to a finite-time attitude tracking control system of a quad-rotor unmanned aerial vehicle.
Background
In recent years, quad-rotor drones have been considered the best platform in drone applications and experimentation. The four-rotor aircraft experimental platform adopts an ARM processor to control the brushless direct current motor and carries out balance control and attitude adjustment of the aircraft through feedback data of the acceleration sensor and the gyroscope.
Along with military and civil market's wide application demand and the unique performance of four rotors itself, four rotor craft have become the hot problem in the academic research of aviation, small-size four rotor craft has 4 screws, and the screw becomes the rotor formula flight mode of cross structure, drive respectively by 4 independent motors, 4 rotor butterfly type distributions, it is rotatory with clockwise and anticlockwise two directions respectively, the motor direction of rotation on the diagonal is the same, adjacent motor direction of rotation is opposite, can realize the every single move through the rotational speed of adjusting 4 motors, the roll, flight actions such as driftage, and have to hover, mobility, advantages such as direction control is nimble.
However, in the prior art, attitude control and path planning in the flight process of the quad-rotor unmanned aerial vehicle are not mature, so that more problems occur in flight.
Disclosure of Invention
The invention aims to provide a four-rotor unmanned aerial vehicle finite time attitude tracking control system to solve the problems in the prior art.
In order to achieve the purpose, the invention provides a finite-time attitude tracking control system of a quad-rotor unmanned aerial vehicle, which comprises a path planning subsystem, a flight data acquisition subsystem, a data analysis subsystem and a flight control subsystem;
the path planning subsystem is used for planning paths between starting points of flight of the quad-rotor unmanned aerial vehicle;
the flight data acquisition subsystem is used for acquiring flight data of the quad-rotor unmanned aerial vehicle;
the data analysis subsystem is used for analyzing the flight data, generating a control command and transmitting the control command to the flight control subsystem;
and the flight control subsystem is used for adjusting the flight state of the quad-rotor unmanned aerial vehicle according to the control command.
Optionally, the path planning subsystem acquires the flight path of the unmanned aerial vehicle according to a building three-dimensional point cloud picture between flight starting points of the quad-rotor unmanned aerial vehicle.
Optionally, the path planning subsystem determines a shortest path between the flight starting points according to the building three-dimensional point cloud graph, and acquires an obstacle in the shortest path.
Optionally, the path planning subsystem acquires the shortest path and an obstacle according to the building three-dimensional point cloud image, and transmits the building three-dimensional point cloud image to the data analysis subsystem for obstacle avoidance setting.
Optionally, the flight data acquisition subsystem includes a micro rotation speed sensor, a micro inertial sensor, a piezoelectric acceleration sensor, an air pressure height sensor and a gyroscope which are arranged on the quad-rotor unmanned aerial vehicle; the flight data comprises motor rotation speed, maximum flight speed, maximum acceleration, maximum angular velocity and maximum flight height.
Optionally, the data analysis subsystem determines a transformation posture of the quad-rotor unmanned aerial vehicle according to the obstacle acquired by the path planning subsystem, and generates a corresponding control instruction according to the transformation posture to perform obstacle avoidance setting.
Optionally, the transformed attitude comprises a vertical lift, a pitch attitude, a tilt attitude, a yaw motion attitude.
Optionally, the data analysis subsystem is further configured to set a threshold value for flight data of the quad-rotor unmanned aerial vehicle, and when the flight data exceeds the set threshold value, a flight adjustment instruction is generated to enable the unmanned aerial vehicle to change the attitude, and the data analysis subsystem is further configured to perform flight control on the quad-rotor unmanned aerial vehicle by using a PID algorithm.
Optionally, the flight control subsystem increases/decreases the output power to the rotor motors of the quad-rotor drone when receiving control commands for vertical lift; when a control instruction of a pitching attitude is received, two rotor motors obliquely corresponding to the four rotors are controlled, so that the output power of one rotor motor is increased, the output power of the other rotor motor is reduced, and the output powers of the other two rotors are unchanged; when a control instruction of the inclined posture is received, the output power of the motors of two adjacent rotors is increased at the same time, and the output power of the motors of the other two rotors is unchanged; when receiving the control command of yaw motion gesture, two rotors of control four rotors rotate in the forward direction, and other two rotors counter-rotate, and the opposite rotor rotation direction of diagonal is the same.
The invention has the technical effects that:
the invention provides a finite-time attitude tracking control system of a quad-rotor unmanned aerial vehicle, which realizes path planning and obstacle identification before the quad-rotor unmanned aerial vehicle flies by a three-dimensional laser point cloud technology, determines attitude transformation of the unmanned aerial vehicle flying to an obstacle, reduces a flying path, sets thresholds of speed and height in the flying process according to actual needs, and realizes tracking control in the flying process.
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The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. In the drawings:
fig. 1 is a schematic structural diagram of a tracking control system in an embodiment of the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than here.
Example one
As shown in fig. 1, the present embodiment provides a four-rotor unmanned aerial vehicle finite time attitude tracking control system, which includes a path planning subsystem, a flight data collecting subsystem, a data analyzing subsystem, and a flight control subsystem, specifically:
the point cloud is a set of points formed by acquiring the spatial coordinates of each sampling point on the surface of the object. The point cloud for detecting the three-dimensional target is usually obtained by scanning with a laser radar, and includes information such as three-dimensional coordinates and intensity of points, and the precision of the point cloud-based three-dimensional detection method is higher than that of an image-based three-dimensional detection method, so that the path planning subsystem in this embodiment adopts a three-dimensional point cloud detection technology to obtain a building three-dimensional point cloud picture between flight starting points of the quad-rotor unmanned aerial vehicle, and the building three-dimensional point cloud picture includes flight paths and obstacles between the starting points of the quad-rotor unmanned aerial vehicle, such as city buildings, infrastructure and the like, so that the shortest path between the flight starting points of the quad-rotor unmanned aerial vehicle and obstacles between the shortest paths can be obtained according to the building three-dimensional point cloud picture, and after the shortest path and the obstacles are obtained, the building three-dimensional point cloud picture is transmitted to the data analysis subsystem for obstacle avoidance setting.
The flight data acquisition subsystem is used for acquiring flight data of the quad-rotor unmanned aerial vehicle in a flight state, and comprises a micro rotating speed sensor, a micro inertial sensor, a piezoelectric acceleration sensor, an air pressure altitude sensor and a gyroscope which are arranged on the quad-rotor unmanned aerial vehicle, wherein the inertial sensor is a sensor for detecting and measuring acceleration, inclination, impact, vibration, rotation and multi-degree-of-freedom motion, and is an important part for solving navigation, orientation and motion carrier control, and meanwhile, the mass volume of the quad-rotor unmanned aerial vehicle is small; piezoelectric acceleration sensors are also known as piezoelectric accelerometers. By using the piezoelectric effect of the substance, the force applied by the mass to the piezoelectric element changes when the accelerometer is vibrated. When the vibration frequency of the measured vibration is far lower than the natural frequency of the accelerometer, the change of the force is in direct proportion to the acceleration of the measured vibration, and the method is suitable for the characteristics that the unmanned aerial vehicle is small in size, small in effective load and low in requirement on the accuracy of the sensor. In conclusion, the unmanned aerial vehicle flight data collected by the flight data collection subsystem in the embodiment includes the motor rotation speed, the maximum flight speed, the maximum acceleration, the maximum angular velocity and the maximum flight altitude, and after the acquisition is finished, the flight data collection subsystem transmits the flight data to the data analysis subsystem to control the data analysis subsystem in the flight process.
Flight attitudes of the quad-rotor unmanned aerial vehicle in the flight process include vertical lifting, pitching attitude, tilting attitude and yawing motion attitude. When vertical lifting flight is not carried out, the flying horizontal height of the quad-rotor unmanned aerial vehicle changes; when in the pitching attitude, the unmanned aerial vehicle flies forwards or backwards; when the unmanned aerial vehicle is in the inclined flight attitude, the unmanned aerial vehicle obliquely flies to the side direction; when in the yawing motion gesture, the unmanned aerial vehicle flies in the rotating gesture of the fuselage.
The functions of the data analysis subsystem further include: carry out threshold value setting to flight data according to actual need, when the flight data of unmanned aerial vehicle flight in-process collection surpassed the threshold value that sets up, then generated the attitude adjustment instruction, control to four rotor unmanned aerial vehicle change flight attitude, for example: when low-altitude slow-speed flight monitoring is required, the maximum flying height threshold of the unmanned aerial vehicle can be set to be 500m, the maximum flying speed threshold is set to be 20km/h, and when the flying data acquired in the flying process of the unmanned aerial vehicle exceeds the threshold, a vertical descent control command and a pitching attitude control command are respectively generated through the data analysis subsystem, so that the flying height and the flying speed of the unmanned aerial vehicle are controlled to be recovered below the set thresholds.
After the data analysis subsystem receives the building three-dimensional point cloud picture transmitted by the path planning subsystem, the flight attitude of the quad-rotor unmanned aerial vehicle can be properly adjusted according to the acquired obstacles, and corresponding control instructions are generated, for example, a building with the height of 400m exists between the shortest paths where the unmanned aerial vehicle flies, and the maximum flight height set by the current flight is 500m, so that the flight control instruction which vertically rises only needs to be generated in the flight process, the flight height of the quad-rotor unmanned aerial vehicle when flying to the building can be kept to 400m-500m, obstacle avoidance setting is not needed, and the flight distance can be effectively shortened.
The flight control subsystem in this embodiment performs corresponding control operations according to the received control instruction: when a control command of vertical lifting is received, the flight control subsystem increases/decreases the output power of the rotor motors of the quad-rotor unmanned aerial vehicle, and the increased/decreased output power of the four rotor motors is the same; when a control instruction of a pitching attitude is received, two obliquely corresponding rotor motors in the four rotors are controlled, the output power of one rotor motor is increased, the output power of the other rotor motor is reduced, and the output powers of the other two rotors are unchanged; when a control instruction of the inclined posture is received, the output power of the motors of two adjacent rotors is increased (the increase of the output power is kept the same), and the output power of the motors of the other two rotors is unchanged, so that the unmanned aerial vehicle inclines towards the opposite direction of the adjacent rotors; when receiving the control command of yawing motion gesture, two rotors forward rotation in the four rotors of control, all the other two rotors counter-rotation, and the relative rotor rotation direction of diagonal is the same, then can realize unmanned aerial vehicle's yawing motion.
In addition, the data analysis subsystem of the invention can also adopt a PID algorithm to carry out flight control on the quad-rotor unmanned aerial vehicle, and the angular velocity value in the flight data is taken as error calculation, because the quad-rotor unmanned aerial vehicle is an under-actuated system, and the control of more state quantities is required on the premise of only taking the rotating speeds of the four rotors as input quantities, therefore, in order to realize the flight control of the quad-rotor unmanned aerial vehicle, the embodiment does not use a PID integral algorithm in the takeoff stage of the unmanned aerial vehicle, so that the aircraft rapidly reaches balance, and when the error between the angle value of the aircraft and the given angle value is smaller, the integral part is introduced and the proportional value is reduced, thereby the balance of the aircraft can be rapidly and accurately controlled.
The embodiment provides a four rotor unmanned aerial vehicle finite time gesture tracking control system, realizes path planning and barrier discernment before four rotor unmanned aerial vehicle flies through three-dimensional laser point cloud technique to confirm the gesture transform that unmanned aerial vehicle flies to barrier department, set up the threshold value of flight in-process speed, height simultaneously according to actual need, realized the tracking control of flight process.
The above description is only for the preferred embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (9)
1. A four-rotor unmanned aerial vehicle finite time attitude tracking control system is characterized by comprising a path planning subsystem, a flight data acquisition subsystem, a data analysis subsystem and a flight control subsystem;
the path planning subsystem is used for planning paths between starting points of flight of the quad-rotor unmanned aerial vehicle;
the flight data acquisition subsystem is used for acquiring flight data of the quad-rotor unmanned aerial vehicle;
the data analysis subsystem is used for analyzing the flight data, generating a control command and transmitting the control command to the flight control subsystem;
and the flight control subsystem is used for adjusting the flight state of the quad-rotor unmanned aerial vehicle according to the control command.
2. The quad-rotor drone finite time attitude tracking control system of claim 1, wherein the path planning subsystem obtains the drone flight path from a building three-dimensional point cloud representation between the quad-rotor drone flight starting points by obtaining the building three-dimensional point cloud representation.
3. The quad-rotor drone finite time attitude tracking control system of claim 2, wherein the path planning subsystem determines a shortest path between the flight starting points from the building three-dimensional point cloud map and obtains obstacles in the shortest path.
4. The quad-rotor unmanned aerial vehicle finite time attitude tracking control system of claim 2, wherein the path planning subsystem transmits the building three-dimensional point cloud map to the data analysis subsystem for obstacle avoidance setting after acquiring the shortest path and an obstacle according to the building three-dimensional point cloud map.
5. The quad-rotor unmanned aerial vehicle finite time attitude tracking control system of claim 1, wherein the flight data acquisition subsystem comprises a micro speed sensor, a micro inertial sensor, a piezoelectric acceleration sensor, an air pressure altitude sensor, and a gyroscope disposed on the quad-rotor unmanned aerial vehicle; the flight data comprises motor rotation speed, maximum flight speed, maximum acceleration, maximum angular velocity and maximum flight height.
6. The quad-rotor unmanned aerial vehicle finite time attitude tracking control system of claim 1, wherein the data analysis subsystem determines a transformed attitude of the quad-rotor unmanned aerial vehicle according to the obstacle obtained by the path planning subsystem, and generates a corresponding control command for obstacle avoidance setting according to the transformed attitude.
7. The quad-rotor drone finite time attitude tracking control system of claim 6, wherein the transform attitude includes a vertical heave, pitch attitude, yaw motion attitude.
8. The quad-rotor unmanned aerial vehicle finite time attitude tracking control system of claim 1, wherein the data analysis subsystem is further configured to set a threshold value for flight data of the quad-rotor unmanned aerial vehicle, generate a flight adjustment command to change the attitude of the quad-rotor unmanned aerial vehicle when the flight data exceeds the set threshold value, and further configured to perform flight control of the quad-rotor unmanned aerial vehicle using a PID algorithm.
9. The quad-rotor drone finite time attitude tracking control system of claim 1, wherein the flight control subsystem increases/decreases the output power to the quad-rotor drone's rotor motors when receiving control commands for vertical lift; when a control instruction of a pitching attitude is received, two rotor motors obliquely corresponding to the four rotors are controlled, so that the output power of one rotor motor is increased, the output power of the other rotor motor is reduced, and the output powers of the other two rotors are unchanged; when a control instruction of the inclined posture is received, the output power of the motors of two adjacent rotors is increased at the same time, and the output power of the motors of the other two rotors is unchanged; when receiving the control command of yaw motion gesture, two rotors of control four rotors rotate in the forward direction, and other two rotors counter-rotate, and the opposite rotor rotation direction of diagonal is the same.
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| CN202211302433.3A CN115509250A (en) | 2022-10-24 | 2022-10-24 | Finite-time attitude tracking control system of quad-rotor unmanned aerial vehicle |
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