CN116643578A - Multimode unified control method for microminiature tailstock unmanned aerial vehicle - Google Patents
Multimode unified control method for microminiature tailstock unmanned aerial vehicle Download PDFInfo
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Abstract
The invention belongs to the technical field of unmanned aerial vehicle control, and discloses a multimode unified control method of a microminiature tailstock unmanned aerial vehicle, which comprises the following steps: establishing a microminiature tailstock type unmanned aerial vehicle pneumatic model; designing a position controller, and adopting a cascade proportional controller comprising a position loop and a speed loop; the attitude controller is designed to comprise an outer ring angle controller and an inner ring angular velocity controller, and expected angular acceleration is obtained through an attitude error; the method comprises the steps of designing a self-adaptive hybrid controller, introducing rudder data as priori knowledge, self-adaptively adjusting control parameters of the hybrid controller according to dynamic pressure changes, mapping expected angular speed and expected propeller tension into control instructions of an unmanned aerial vehicle and a control surface, and controlling the attitude and the position of the unmanned aerial vehicle under different modes. The method can realize the uniform control of multiple modes, and fully exert the high mobility advantage of the tailstock unmanned aerial vehicle.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle control, and particularly relates to a multimode unified control method of a microminiature tailstock unmanned aerial vehicle.
Background
The microminiature tailstock unmanned aerial vehicle (the span is not more than 20 cm) is used as a vertical take-off and landing unmanned aerial vehicle, so that the unmanned aerial vehicle can hover at fixed points for monitoring and tracking, and can also fly quickly to realize large-scale inspection; as a microminiature unmanned aerial vehicle, the microminiature unmanned aerial vehicle has strong portability, concealment and traversing performance, and can be rapidly deployed to form an intelligent cluster. The device has a simple structure and low cost, is suitable for various complex task scenes, and has great application value in the fields of military and civil affairs.
However, the microminiature tailstock unmanned aerial vehicle has nonlinear aerodynamic problems such as low Reynolds number, large attack angle and the like, meanwhile, the system sensitivity is high, the flight envelope is large, the multimode unified control is difficult to realize, and the flight control technology is always the key point and the difficulty of the research in the aviation field. At present, the existing control methods all adopt a bimodal independent control scheme, namely, two modes of hovering and peaceful flight are respectively controlled through two sets of traditional control methods based on classical theory, such as PID control algorithm. The scheme has simple structure, is easy to realize, does not depend on a system mathematical model, and is widely used in the field of tailstock unmanned aerial vehicle flight control. Specifically, the shortcomings of the control scheme of the microminiature tailstock unmanned aerial vehicle in the existing control method are mainly manifested in the following aspects: (1) The conversion among modes is realized through the mode conversion switch, and the attitude of the unmanned aerial vehicle cannot be accurately controlled in the mode conversion process; (2) When the dual-mode independent control scheme is adopted, the pitch angle of the tailstock unmanned aerial vehicle can be limited in a smaller range according to the current flight mode, and the advantage of high maneuverability of the tiny tailstock unmanned aerial vehicle can not be fully exerted; (3) The complete flight envelope of the tailstock unmanned aerial vehicle is divided into a hovering mode, a flat flight mode and a transitional mode, the mode conversion process is complicated, and large-amplitude height fluctuation which is difficult to control occurs. The multi-mode unified control cannot be realized, and the task execution of the microminiature tailstock unmanned aerial vehicle in a complex environment is not facilitated.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide a multimode unified control method applied to a microminiature tailstock unmanned aerial vehicle. Specifically, considering the microminiature tailstock unmanned aerial vehicle, to the urgent need of accomplishing multiple different tasks under complicated scene, under the circumstances that the flight envelope of comprehensive consideration microminiature tailstock unmanned aerial vehicle is big, nonlinear is strong, put forward a microminiature tailstock unmanned aerial vehicle control scheme of multimode unified control. The method breaks through the limitation of the multi-mode independent control scheme in the existing open-source flight control, solves the problems that the mode conversion process is complicated and the gesture cannot be accurately controlled in the mode conversion process, and achieves the purposes of multi-mode unified control of the microminiature tailstock unmanned aerial vehicle, stable flight in a large flight envelope, continuous transition conversion between hovering and flat flight and reduction of height fluctuation in the conversion process.
The technical scheme adopted by the invention is that the method aims at the microminiature tailstock unmanned aerial vehicle to introduce rudder efficiency priori knowledge, control parameters to adjust the attitude control method in real time and a weak model dependent position control method, and the specific technical scheme is as follows:
a multimode unified control method of a microminiature tailstock unmanned aerial vehicle comprises the following steps:
firstly, establishing a microminiature tailstock type unmanned aerial vehicle pneumatic model to obtain a corresponding relation between longitudinal aerodynamic force and attack angle and speed and rudder efficiency data;
secondly, designing a position controller, namely adopting a cascade proportional controller comprising a position ring and a speed ring, combining a microminiature tailstock type unmanned aerial vehicle pneumatic model adjusted in real time according to position errors, and resolving and outputting expected postures and expected propeller pulling forces in real time under different modes;
thirdly, designing a gesture controller based on an error quaternion, wherein the gesture controller comprises an outer ring angle controller and an inner ring angular velocity controller, and obtaining expected angular acceleration through a gesture error;
and fourthly, designing a self-adaptive hybrid controller, introducing rudder efficiency data as priori knowledge, self-adaptively adjusting control parameters of the hybrid controller according to dynamic pressure change, mapping the expected angular speed and the expected screw tension into control instructions of the unmanned aerial vehicle motor and the control surface, and realizing the control of the attitude and the position of the unmanned aerial vehicle under different modes.
Further, the wingspan of the microminiature tailstock unmanned aerial vehicle is not more than 20 cm.
Further, the multi-modes include a hover mode, a fly-flat mode, and a transition mode.
Further, in the first step, the corresponding relation between the longitudinal aerodynamic force and the attack angle and the velocity is that
in the formula ,，/>respectively represent the lower part of the body shaft system of the fuselage obtained according to the aerodynamic model under ideal condition>Axis direction and +.>Aerodynamic force in the axial direction;αis the angle of attack;vis the incoming flow speed;L 1 ，L 2 ，D 1 ，D 2 is a constant;
the rudder performance data comprises aerodynamic moment variation quantity generated by unit deflection angle under unit incoming flow speed when the control surface deflects in the same direction and differentially、/>：
in the formula ,is the angle of the same direction deflection of the left control surface and the right control surface, < >>The change of the pitching moment for the control surface deflection in the same direction,/->Is the differential deflection angle of the left control surface and the right control surface, < + >>The steering surface differential deflection brings about the lower part of the engine body axis>The amount of moment variation of the shaft,Vrepresenting the unmanned aerial vehicle flight speed.
Further, the second step specifically comprises:
and (3) adjusting a micro tailstock type unmanned aerial vehicle pneumatic model in real time according to the model and the actual state, namely:
in the formula ,is under the body axis of the body>Aerodynamic force in the axial direction; />Is under the body axis of the body>Aerodynamic force in the axial direction; />，/>Representing +.>Shaft and->A shaft acceleration error;m x ，m z is a fixed coefficient and is determined according to a specific model;
substituting the pneumatic model of the miniature tailstock type unmanned aerial vehicle which is adjusted in real time according to the model and the actual state into a nonlinear equation set:
in the formula ,mfor the quality of the unmanned aerial vehicle,unmanned plane acceleration in vertical direction under ground coordinate system, +.>Is the acceleration of the unmanned aerial vehicle in the horizontal direction under the ground coordinate system,Tfor screw tension->Is a pitch angle;
taking the current attack angle and the screw tension as initial values, solving a nonlinear equation set to obtain the expected attack angle and the expected screw tension; the expected pitch angle is obtained by combining an airborne wind speed sensor, and the expected yaw angle and the rolling angle are obtained through an L1 transverse heading control method.
Further, the third step specifically includes:
the method comprises the steps that an airborne sensor obtains an actual quaternion representing the gesture of the unmanned aerial vehicle, and an expected quaternion is obtained according to an input signal of a remote controller, so that an error quaternion is obtained:
wherein ,representing the actual quaternion +.>For the desired quaternion +.>Representing an error quaternion;
solving the rotation angle according to the following：
in the formula ,is the rotation axis vector under the axis of the machine body, +.>A rotation angle of the body shafting around a rotation shaft of the body shafting is expected;
will rotate the angleAs an error angle, the outer ring angle controller multiplies the error angle by a gain coefficient to obtain a desired angular velocity; taking the expected angular velocity as an inner ring expected of the inner ring angular velocity controller, and calculating and outputting expected angular acceleration:
in the formula ,in order for the angular acceleration to be desired,Pthe control parameters are used for the proportional links,Ifor the control parameter of the integration section,Dfor differential link control parameters +.>Is an angular velocity error>, wherein />For the actual angular velocity +.>In order for the angular velocity to be desired,tis time.
Further, the fourth step of mapping the desired angular acceleration to a desired rudder face deflection angle:
in the formula ,，/>respectively is around the axis of the machine body>Shaft (S)>The desired angular acceleration of the shaft,Vrepresenting unmanned aerial vehicle flight speed, < >>A deflection angle of a control surface is expected; constant (constant)BAndCthe mapping relation between the expected angular acceleration and the steering surface deflection angle in the hovering state is shown:
K x ，K y the control parameters respectively represent the change coefficients of the dynamic pressure:
wherein ,the speed of the slip flow of the propeller when the microminiature tailstock unmanned aerial vehicle hovers; />The plane flying speed of the miniature tailstock type unmanned aerial vehicle is achieved;J x 、J y respectively represent the lower part of the axis of the unmanned aerial vehicle around the engine body>Shaft and->The moment of inertia of the shaft.
Compared with the prior art, the invention has the following beneficial effects:
the attitude control method for the microminiature tailstock unmanned aerial vehicle can realize the multi-mode unified control, the hovering mode and the peaceful flying mode can be continuously converted, the attitude controller based on the error quaternion is applied to the microminiature tailstock unmanned aerial vehicle with extremely large attitude angle change range, the problem of singularity when the attitude is represented by the Euler angle is solved, and the high maneuverability advantage of the tailstock unmanned aerial vehicle is fully exerted.
The control method combines rudder efficiency data to enable the control parameters to be adjusted in a self-adaptive mode, solves the problem that a single controller is difficult to adapt to different flight states of the microminiature tailstock unmanned aerial vehicle, realizes stable flight in a large flight envelope, and can be seen that the control effect is obviously better than that of a fixed parameter controller through a comparison test. The algorithm adopted by the position controller provided by the invention can realize the calculation of the expected gesture and the expected tension according to the expected acceleration, and effectively reduces the dependence of the controller on a model, thereby obviously reducing the height fluctuation in the mode conversion process.
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So that the manner in which the above recited embodiments of the present invention and the manner in which the same are attained and can be understood in detail, a more particular description of the invention, briefly summarized above, may be had by reference to the embodiments thereof which are illustrated in the appended drawings, which drawings are intended to be illustrative, and which drawings, however, are not to be construed as limiting the invention in any way, and in which other drawings may be obtained by those skilled in the art without the benefit of the appended claims.
Fig. 1 is a schematic diagram of each actuator of a microminiature tailstock unmanned aerial vehicle;
FIG. 2 is a diagram of a multi-modal unified control architecture;
FIG. 3 is a diagram of a position control architecture;
fig. 4 is a configuration diagram of attitude control;
fig. 5 is a diagram of force analysis during flight of a microminiature tailstock unmanned aerial vehicle;
FIG. 6a is a trace of forward flight movement of a microminiature tailstock unmanned aerial vehicle;
fig. 6b is a change in pitch angle of the drone.
Detailed Description
The invention will be described with reference to the accompanying drawings, taking a 20cm wingspan microminiature tailstock unmanned aerial vehicle as an example, two rotors and two control surfaces which are arranged symmetrically on the left and right in the mechanical structure, as shown in figure 1,、/>indicating the rotation speeds of left and right paddles; />、/>Indicating deflection angles of left and right control surfaces; establishing a body coordinate system, and allowing for->The shaft points to the front of the unmanned plane along the chord direction, < > and the shaft points to the front of the unmanned plane along the chord direction>Pointing to the right side of the unmanned aerial vehicle in the spanwise direction, +.>Derived from the right hand rule. The power of the unmanned aerial vehicle is provided by the pulling force of two rotors, and the control moment is generated by the differential rotation of the rotors and the deflection of the control surface, so that the attitude control actions such as rolling, pitching, yawing and the like of the unmanned aerial vehicle can be realized.
The overall technical scheme of the multimode unified control method of the microminiature tailstock unmanned aerial vehicle is shown in fig. 2, a position controller outputs expected gestures and expected screw pulling force according to expected position instructions, a gesture controller taking the expected gestures as input outputs expected angular acceleration, and a hybrid controller maps the expected angular velocity and the expected screw pulling force into control instructions of a motor and a control surface, so that the gestures and the positions are controlled. Wherein the position controller is shown in fig. 3, the gesture controller is shown in fig. 4, and the specific steps are as follows:
firstly, establishing a microminiature tailstock type unmanned aerial vehicle pneumatic model to obtain the corresponding relation between longitudinal aerodynamic force and attack angle and speed and rudder efficiency data.
And secondly, designing a position controller, namely adopting a cascade proportional controller comprising a position ring and a speed ring, and combining a microminiature tailstock type unmanned aerial vehicle pneumatic model adjusted in real time according to position errors, so that dependence on the model can be reduced, expected postures and expected pulling forces can be solved in real time under different modes, and multi-mode unified control is realized.
Thirdly, designing a cascade gesture controller: the method comprises the steps of designing a cascade attitude controller of a micro tailstock type unmanned aerial vehicle based on an error quaternion, wherein the cascade attitude controller comprises an outer ring angle controller and an inner ring angular velocity controller, and obtaining expected angular acceleration through an attitude error;
fourth, designing a self-adaptive mixed controller: and introducing rudder performance data as priori knowledge, adaptively adjusting control parameters of the hybrid controller according to dynamic pressure change, and mapping the expected angular acceleration into an expected control surface deflection angle. The stable flight under each mode is realized, the problem that fixed control parameters cannot adapt to different modes is solved, and the multimode unified control of the microminiature tailstock unmanned aerial vehicle is realized.
The first step, a microminiature tailstock type unmanned aerial vehicle pneumatic model is established:
firstly, a mapping relation between longitudinal aerodynamic force and attack angle and speed of the microminiature tailstock unmanned aerial vehicle needs to be established. Aerodynamic force and moment of the micro tailstock unmanned aerial vehicle can be described as an attack angle according to a flat plate theory when slip flow of a propeller and deflection of a control surface are not consideredαAnd incoming flow velocityvIs a function of (a) as follows:
（1）
（2）
wherein ,，/>respectively represent the lower part of the engine axis of the engine body obtained according to the aerodynamic model under ideal conditions (without considering the deflection angle of the control surface)>Axis direction and +.>Aerodynamic force in the axial direction; parameters (parameters)L 1 ，L 2 ，D 1 ，D 2 The constant can be obtained by wind tunnel test, pneumatic calculation or parameter identification.
Secondly, the rudder performance data of the microminiature tailstock unmanned aerial vehicle needs to be measured、/>The method respectively represents the aerodynamic moment variation quantity generated by a unit deflection angle under a unit incoming flow speed when the control surface deflects in the same direction and the control surface deflects differentially, and comprises the following specific calculation method:
（3）
（4）
in the formula ,is the angle of the same direction deflection of the left control surface and the right control surface, < >>Pitching moment (around the axis of the engine body +.>Axis) change amount, +.>Is the differential deflection angle of the left control surface and the right control surface, < + >>The steering surface differential deflection brings about the lower part of the engine body axis>The amount of moment variation of the shaft,Vrepresenting the unmanned aerial vehicle flight speed.
In particular, in the second step, a position controller on which the weak model depends is designed, and the design method is as follows:
FIG. 3 is a diagram showing a position control structure in whichpThe position is indicated by the position of the object,vthe speed is indicated by the velocity of the light,aindicating acceleration, subscriptsRepresenting the actual value, subscriptedRepresenting error values, subscriptsdRepresenting the expected value.
The position controller adopts a cascade proportional controller, and comprises a position ring and a speed ring; the expected speed is obtained through the position ring, the expected acceleration is obtained through the speed ring according to the speed error, and then the expected attitude angle is calculated as the input of the attitude controller.
The calculation of the desired pitch angle needs to consider the pneumatic model of the microminiature tailstock unmanned aerial vehicle, and the required pitch angle is calculated according to two longitudinal desired accelerations. When the pitch angle of the tailstock type unmanned aerial vehicle isThe stress state of the unmanned plane is shown in fig. 5.
By combining the longitudinal stress condition of the microminiature tailstock unmanned aerial vehicle, the following nonlinear equation sets in two directions can be obtained according to Newton's law of motion:
（5）
（6）
in the formula ,mfor the quality of the unmanned aerial vehicle,unmanned plane acceleration in vertical direction under ground coordinate system, +.>Is the acceleration of the unmanned aerial vehicle in the horizontal direction under the ground coordinate system,Tfor screw tension->Is under the body axis of the body>Aerodynamic force in axial direction>Is under the body axis of the body>Aerodynamic force in axial direction>Is the pitch angle.
The microminiature tailstock unmanned aerial vehicle is affected by various external factors in the actual flight process, and the aerodynamic force is ignored by the pneumatic model established in the first step. If the formula is directly adopted as the pneumatic model, larger deviation exists between the model and the actual situation, so that the model can only be used as a reference, and the self-adaptive adjustment law is designed according to the difference between the actual state and the reference model to adjust the gesture solution. For a specific self-adaptive adjustment law, the invention respectively multiplies aerodynamic forces in two directions by coefficients to represent an actual aerodynamic model, and the coefficients multiply fixed coefficients by errors between expected acceleration and actual accelerationm x ，m z The specific calculation mode is as follows:
（7）
（8）
in the formula ,，/>representing +.>Shaft and->A shaft acceleration error;m x ，m z is a fixed coefficient and is determined according to a specific model.
Therefore, the real-time adjustment of the pneumatic model can be realized, and more accurate aerodynamic data can be obtained. The aerodynamic model is brought into an equation, the current attack angle and the propeller tension are taken as initial values, the expected attack angle and the expected propeller tension can be calculated by solving a nonlinear equation set, and the expected pitch angle can be obtained by combining an airborne wind speed sensor. And obtaining the expected yaw angle and roll angle by an L1 transverse heading control method.
In particular, the third step, the specific design method of the cascade gesture controller based on the error quaternion is as follows:
fig. 4 shows a configuration diagram of attitude control. Firstly, acquiring an actual quaternion representing the gesture of the unmanned aerial vehicle by an airborne sensor, and then obtaining an expected quaternion according to an input signal of a remote controller, thereby obtaining a quaternion representing an error, wherein the quaternion comprises the following formula:
（9）
wherein Representing the actual quaternion +.>For the desired quaternion +.>Representing an error quaternion. The error quaternion can also be expressed as:
（10）
in the formula ,is the rotation axis vector under the axis of the machine body, +.>The rotation angle of the body shafting around the rotation axis of the body shafting is expected.
The error quaternion represents the rotation axis of the expected body axis around the body axisIs +.>. That is, as long as the angular velocity vector of the unmanned aerial vehicle coincides with the rotation axis, the above error quaternion can be eliminated by rotating by a certain angle. For this purpose, the rotation about the axis of rotation is to be made +.>The angle is used as an error angle to perform control law calculation. The error angle is multiplied by a gain coefficient in the outer ring angle controller to obtain the expected angular velocity, wherein the gain coefficient is the proportional control parameter of the outer ring angle controller.
After the expected angular velocity is obtained, the expected angular velocity is used as an inner ring to be expected to design an inner ring angular velocity controller, the output of the inner ring angular velocity controller consists of PID, the expected angular acceleration is output, and the calculation formula is as follows
（11）
wherein ,in order for the angular acceleration to be desired,Pthe control parameters are used for the proportional links,Ifor the control parameter of the integration section,Dfor differential link control parameters +.>Is an angular velocity error>, wherein />For the actual angular velocity +.>In order for the angular velocity to be desired,tis time. The cascade gesture controller has good robustness, and can realize gesture control of the microminiature tailstock unmanned aerial vehicle after finishing adjustment of control parameters through simulation test, ground bench test and test flight test.
In particular, the third step, the specific design method of the hybrid controller combining dynamic pressure self-adaptive adjustment control parameters comprises the following steps:
for the microminiature tailstock unmanned aerial vehicle, the mixed control of the control surface is more complicated. The output signal of the control surface is controlled by the lower part of the shaft system of the winding machine bodyx b Andy b the desired angular acceleration of the shaft is superimposed. The microminiature tailstock unmanned aerial vehicle can obtain rudder data through wind tunnel test or pneumatic calculation and other methods, so the invention provides a self-adaptive control method which introduces rudder data as priori knowledge, and hover and flat flight are selected as typical working points, so that parameters of the hybrid controller are linearly changed according to the rudder data along with dynamic pressure.
The rudder deflection angle can generate different control moments when the severe change of the flying speed is considered in the specific design process, and the problem can be effectively solved by considering the influence of dynamic pressure change introduced in the mapping relation between the expected angular speed and the control signal in the hybrid controller. Therefore, the following mapping relation from the expected angular acceleration to the expected control surface deflection angle is designed:
（12）
in the formula, the constantBAndCthe mapping relation between the expected angular acceleration and the steering surface deflection angle in the hovering state (the flying speed is zero) is shown,，/>respectively is around the axis of the machine body>Shaft (S)>The desired angular acceleration of the shaft,Vrepresenting unmanned aerial vehicle flight speed, < >>In order to desire the steering angle of the control surface,K x ，K y respectively representing the variation coefficient of the control parameter with dynamic pressure.
When the microminiature tailstock unmanned aerial vehicle hovers, the pulling force of the propeller is equal to the gravity of the machine body, and the control surface only generates control moment by the slip flow of the propeller, namely in the formula (12)The propeller slip flow speed is recorded as +.>Then the mapping relationship between the steering angle and the expected angular acceleration should be:
（13）
in the rudder performance data、/>Respectively representing the aerodynamic moment variation generated by a unit deflection angle under a unit incoming flow speed when the control surface deflects in the same direction and the control surface deflects differentially;J x 、J y respectively represent the lower part of the axis of the unmanned aerial vehicle around the engine body>Shaft and method for producing the sameThe moment of inertia of the shaft.
The plane flying speed of the micro tailstock type unmanned plane is recorded asNamely +.about.in formula (12)>At this time, the propeller slipstream has small influence on the actual flow of the machine body, so that the incoming flow speed is approximately considered to be only formed by free incoming flow generated by the relative motion of the unmanned aerial vehicle, and the mapping relation between the deflection angle of the control surface and the expected angular acceleration under the working condition of flat flight cruising is as follows:
（14）
the parameters in formula (12) can be obtained by linearizing the two working conditions as typical working points as follows:
（15）
（16）
（17）
（18）
it is worth noting that the coefficient is calculated by the relevant physical and pneumatic parameters of the microminiature tailstock unmanned aerial vehicle. Because of a certain deviation between the real machines, the coefficient can be finely adjusted through analysis of flight data, so that a better control effect is obtained.
Around the lower part of the engine shaft systemz b The expected angular acceleration of the shaft is mapped into the rotation speed difference of the left motor and the right motor through the hybrid controller, and the rotation speed difference is overlapped with the rotation speed of the motor corresponding to the expected propeller tension to obtain the control signal of the motor.
The mapping relation between the expected angular acceleration, the deflection angle of the control surface and the motor rotation speed difference can realize gesture control under different modes, thereby realizing the effect of multi-mode unified control.
In order to verify the multi-mode unified control effect of the microminiature tailstock unmanned aerial vehicle attitude controller, the integrated design is completed in a simulation environment, a simulation experiment is carried out, and the main simulation process is as follows:
the settings in the simulation test were: the initial speed of the aircraft is 0m/s, the initial attitude is theta=90, phi=psi=0, and the initial position is (0, 0), namely the initial state of the microminiature tailstock type unmanned aerial vehicle is a vertical hovering state with the speed of 0. The expected position is (10,0,0), namely forward flying is 10m, and the test hopes that the tailstock unmanned aerial vehicle can be converted into a flat-flight mode from a hovering mode, and gradually converted back into the hovering mode along with the reduction of position error after approaching the expected position quickly. The simulation time is 4s, and in the testing process, a disturbance torque can be applied to the unmanned aerial vehicle, so that the stability of attitude control is verified.
After the test is completed in Simulink, the test results shown in fig. 6a and 6b are obtained. Firstly, the flight path of the microminiature tailstock unmanned aerial vehicle. As can be seen from fig. 6a, the drone achieves the desired position control objective without significant altitude fluctuations during the modal transformation. From the time-dependent change relation of the pitch angle change of the aircraft in fig. 6b, it can be seen that the position controller completes the mode conversion process from hovering to flat flying to hovering with the change of the position error, and the pitch angle control effect is stable.
The control method can realize the full-mode attitude control of the microminiature tailstock unmanned aerial vehicle, can effectively control the height fluctuation during mode conversion, and achieves the effect of the multi-mode unified control of the microminiature tailstock unmanned aerial vehicle, thereby fully exerting the high maneuverability advantage that the tailstock unmanned aerial vehicle can hover at fixed points and can cruise at high speed.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.
In the present invention, the terms "first," "second," "third," "fourth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The term "plurality" refers to two or more, unless explicitly defined otherwise.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. The multimode unified control method of the microminiature tailstock unmanned aerial vehicle is characterized by comprising the following steps of:
firstly, establishing a microminiature tailstock type unmanned aerial vehicle pneumatic model to obtain a corresponding relation between longitudinal aerodynamic force and attack angle and speed and rudder efficiency data;
secondly, designing a position controller, namely adopting a cascade proportional controller comprising a position ring and a speed ring, combining a microminiature tailstock type unmanned aerial vehicle pneumatic model adjusted in real time according to position errors, and resolving and outputting expected postures and expected propeller pulling forces in real time under different modes;
thirdly, designing a gesture controller based on an error quaternion, wherein the gesture controller comprises an outer ring angle controller and an inner ring angular velocity controller, and obtaining expected angular acceleration through a gesture error;
and fourthly, designing a self-adaptive hybrid controller, introducing rudder efficiency data as priori knowledge, self-adaptively adjusting control parameters of the hybrid controller according to dynamic pressure change, mapping the expected angular speed and the expected screw tension into control instructions of the unmanned aerial vehicle motor and the control surface, and realizing the control of the attitude and the position of the unmanned aerial vehicle under different modes.
2. The method for multi-modal unified control of a microminiature tailstock unmanned aerial vehicle of claim 1, wherein the microminiature tailstock unmanned aerial vehicle has a span of no more than 20 cm.
3. The method for multi-modal unified control of a microminiature tailstock unmanned aerial vehicle according to claim 1, wherein the multi-modal comprises a hover mode, a fly-flat mode and a transition mode.
4. The method for multi-mode unified control of a microminiature tailstock unmanned aerial vehicle according to any one of claims 1 to 3, wherein the first step is characterized in that the correspondence between longitudinal aerodynamic force and angle of attack, speed is that
in the formula ,，/>respectively represent the lower part of the body shaft system of the fuselage obtained according to the aerodynamic model under ideal condition>Axis direction and +.>Aerodynamic force in the axial direction;αis the angle of attack;vis the incoming flow speed;L 1 ，L 2 ，D 1 ，D 2 is a constant;
the rudder performance data comprises aerodynamic moment variation quantity generated by unit deflection angle under unit incoming flow speed when the control surface deflects in the same direction and differentially、/>：
in the formula ,is the angle of the same direction deflection of the left control surface and the right control surface, < >>The change of the pitching moment for the control surface deflection in the same direction,/->Is the differential deflection angle of the left control surface and the right control surface, < + >>The steering surface differential deflection brings about the lower part of the engine body axis>The amount of moment variation of the shaft,Vrepresenting the unmanned aerial vehicle flight speed.
5. The multimode unified control method of the microminiature tailstock unmanned aerial vehicle according to claim 4, wherein the second step specifically comprises:
and (3) adjusting a micro tailstock type unmanned aerial vehicle pneumatic model in real time according to the model and the actual state, namely:
in the formula ,is under the body axis of the body>Aerodynamic force in the axial direction; />Is under the body axis of the body>Aerodynamic force in the axial direction; />，/>Representing +.>Shaft and->A shaft acceleration error;m x ，m z is a fixed coefficient and is determined according to a specific model;
substituting the pneumatic model of the miniature tailstock type unmanned aerial vehicle which is adjusted in real time according to the model and the actual state into a nonlinear equation set:
in the formula ,mfor the quality of the unmanned aerial vehicle,unmanned plane acceleration in vertical direction under ground coordinate system, +.>Is the acceleration of the unmanned aerial vehicle in the horizontal direction under the ground coordinate system,Tfor screw tension->Is a pitch angle;
taking the current attack angle and the screw tension as initial values, solving a nonlinear equation set to obtain the expected attack angle and the expected screw tension; the expected pitch angle is obtained by combining an airborne wind speed sensor, and the expected yaw angle and the rolling angle are obtained through an L1 transverse heading control method.
6. The multimode unified control method of the microminiature tailstock unmanned aerial vehicle according to claim 5, wherein the third step is specifically:
the method comprises the steps that an airborne sensor obtains an actual quaternion representing the gesture of the unmanned aerial vehicle, and an expected quaternion is obtained according to an input signal of a remote controller, so that an error quaternion is obtained:
wherein ,representing the actual quaternion +.>For the desired quaternion +.>Representing an error quaternion;
solving the rotation angle according to the following：
in the formula ,is the rotation axis vector under the axis of the machine body, +.>A rotation angle of the body shafting around a rotation shaft of the body shafting is expected;
will rotate the angleAs an error angle, the outer ring angle controller multiplies the error angle by a gain coefficient to obtain a desired angular velocity; taking the expected angular velocity as an inner ring expected of the inner ring angular velocity controller, and calculating and outputting expected angular acceleration:
in the formula ,in order for the angular acceleration to be desired,Pthe control parameters are used for the proportional links,Ifor the control parameter of the integration section,Dfor differential link control parameters +.>Is an angular velocity error>, wherein />For the actual angular velocity +.>In order for the angular velocity to be desired,tis time.
7. The multi-mode unified control method of a microminiature tailstock unmanned aerial vehicle according to claim 6, wherein the fourth step is to map the desired angular acceleration to a desired rudder deflection angle:
in the formula ,，/>respectively is around the axis of the machine body>Shaft (S)>The desired angular acceleration of the shaft,Vrepresenting unmanned aerial vehicle flight speed, < >>A deflection angle of a control surface is expected; constant (constant)BAndCthe mapping relation between the expected angular acceleration and the steering surface deflection angle in the hovering state is shown:
K x ，K y the control parameters respectively represent the change coefficients of the dynamic pressure:
wherein ,the speed of the slip flow of the propeller when the microminiature tailstock unmanned aerial vehicle hovers; />The plane flying speed of the miniature tailstock type unmanned aerial vehicle is achieved;J x 、J y respectively represent the lower part of the axis of the unmanned aerial vehicle around the engine body>Shaft and->The moment of inertia of the shaft.
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