WO2019024303A1 - 一种基于有限时间神经动力学的多旋翼无人飞行器的稳定飞行控制方法 - Google Patents
一种基于有限时间神经动力学的多旋翼无人飞行器的稳定飞行控制方法 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
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
- G05D1/0825—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability using mathematical models
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
- B64U10/16—Flying platforms with five or more distinct rotor axes, e.g. octocopters
-
- 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
- G05D1/0858—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft specially adapted for vertical take-off of aircraft
-
- 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
-
- 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
- G05D1/102—Simultaneous control of position or course in three dimensions specially adapted for aircraft specially adapted for vertical take-off of aircraft
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N3/00—Computing arrangements based on biological models
- G06N3/02—Neural networks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
Definitions
- the invention relates to the technical field of flight control of an unmanned aerial vehicle, and particularly relates to an azimuth and attitude stable flight control method for a multi-rotor unmanned aerial vehicle based on finite time neural dynamics.
- multi-rotor unmanned aerial vehicles have been widely used in military, agricultural, surveillance missions, detection and other fields because of its low cost, flexible flight and simple mechanical structure.
- an important starting point is the design of its azimuth stability and attitude angle stability controller.
- the stability of position and angle is of great significance.
- the unmanned aerial vehicle is usually manually controlled by the operator and continuously controls the adjustment position, height, pitch angle, roll angle and yaw angle. Wait for the status to reach the target position and posture or complete the target task.
- the controller of the drone must have the ability to follow the time-varying target, that is, the controller needs to have strong robustness, faster convergence speed and stability, so as to ensure that the aircraft can be effective. Complete the follow-up of the time-varying goal.
- the object of the present invention is to solve the above-mentioned drawbacks of the prior art and to provide a stable flight control method for a multi-rotor unmanned aerial vehicle.
- a stable flight control method for a multi-rotor unmanned aerial vehicle based on finite time neural dynamics comprising the following steps:
- step S1 the kinematics problem of the aircraft is analyzed and processed by the carried processor, and the aircraft dynamics model is specifically included:
- m is the total mass of the aircraft
- I is a 3 ⁇ 3 unit matrix
- J is the inertia matrix of the aircraft
- v and w are the velocity vectors and angular velocity vectors of the aircraft ground coordinate system
- F and G are the axial outputs of the aircraft motor respectively.
- the component vector of force and the axial component of gravity, and T is the rotational moment vector of the aircraft;
- the ground coordinate system X G and the aircraft body coordinate system X U are established.
- X U KX G , in the conversion relationship, K is between the ground coordinate system and the body coordinate system.
- Rotating transformation matrix can be expressed as
- C ⁇ represents cos ⁇ (t)
- S ⁇ represents sin ⁇ (t)
- ⁇ (t) is a pitch angle
- ⁇ (t) is a yaw angle
- ⁇ (t) is a roll angle
- x, y, and z are the position coordinates of the aircraft in the world coordinate system, respectively, J x , J y and J z are the moment of inertia of the aircraft in the x-axis, y-axis and z-axis directions, respectively, l is the arm length, g
- the combined control quantities u 1 to u 4 are composed of the output thrust of the aircraft motor and the combined torque
- u 1 (t) is the resultant force in the vertical direction of the aircraft
- u 2 (t) is the resultant force in the roll angle direction
- u 3 (t) is the combined force in the pitch angle direction
- u 4 (t) is the combined torque in the yaw angle direction.
- the finite time variable parameter convergence differential neural network solver for designing the multi-rotor aircraft dynamics model specifically includes:
- the finite-time variable parameter of the control quantity u 1 ⁇ u 4 converges the system parameter deviation function of the differential neural network
- a finite-time variable-parameter convergence differential neural network solver is designed based on the obtained system parameter deviation function of the finite-time variable-parameter convergence differential neural network with respect to the output control quantities u 1 ⁇ u 4 .
- the finite-time variable-parameter convergence differential neural dynamics design method is respectively composed of a z-axis height z(t), a roll angle ⁇ (t), a pitch angle ⁇ (t), and a yaw angle ⁇ (t)
- the steps of designing the system parameter deviation function of the finite-time variable parameter convergence differential neural network of the output control quantity u 1 ⁇ u 4 specifically include:
- the deviation function e z1 about the actual height value z(t) can be defined on the position layer .
- e z1 (t) z(t)-z T (t)
- the position layer z(t) can converge to the time-varying target value z T (t) with a super exponential in a finite time, but since equation (3) does not contain relevant information about the control quantities u 1 ⁇ u 4 , the pair cannot be realized.
- the control quantity is solved, so it is necessary to further design the speed layer.
- Acceleration layer Deviation function then define According to the finite-time variable parameter convergence differential neural network design method, the dynamic equation based on the deviation function can be designed.
- equation (5) can be rewritten as
- the aircraft reaches the target state, and according to the dynamic model equation, the deviation function can be converted into
- the aircraft reaches the target state, and according to the dynamic model equation, the deviation function can be converted into
- the aircraft reaches the target state, and according to the dynamic model equation, the deviation function can be converted into
- the step of designing the finite time variable parameter convergence differential neural network solver according to the determined system parameter deviation function of the finite time variable parameter convergence differential neural network with respect to the output control quantity u 1 ⁇ u 4 respectively include:
- Roll angle ⁇ (t) and speed Will converge to the target position ⁇ T (t) and the target speed in a super-exponential form for a limited time.
- Pitch angle ⁇ (t) and speed Will converge to the target position ⁇ T (t) and target speed in a super-exponential form for a limited time.
- the calculated control quantities u 1 to u 4 are distributed and output controlled according to the structure of the different rotorcraft and the number of motors.
- the invention is based on the variable parameter convergence differential neural dynamics method, and uses the ubiquitous hidden dynamic model to describe, and can fully utilize the derivative information of each time-varying parameter from the method and system level, and has certain predictive ability for solving the problem, which can be fast Accurate, real-time approach to the correct solution of the problem, can solve a variety of time-varying problems such as matrix, vector, algebra and optimization.
- Figure 2 is a side view showing the structure of the multi-rotor aircraft of the present invention.
- Figure 3 is a plan view showing the structure of the multi-rotor aircraft of the present invention.
- Figure 4 is a three-dimensional view of the structure of the multi-rotor aircraft of the present invention.
- Figure 5 is a coordinate diagram of a multi-rotor aircraft body
- a stable flight control method for a multi-rotor unmanned aerial vehicle based on finite-time neural dynamics includes the following steps:
- step S3 using the real-time operating data of the aircraft acquired in step S1 and the target attitude data, and solving the output control amount of the aircraft motor by using the finite-time variable-parameter convergence differential neural network solver designed in step S2;
- step S4 Pass the solution result of step S3 to the aircraft motor governor to control the multi-rotor unmanned aerial vehicle motion.
- the mechanism shown in Figures 2, 3 and 4 is a rotorcraft structure in a multi-rotor aircraft.
- the structure is a six-rotor aircraft mechanism model consisting of a multi-rotor aircraft propeller 1, a brushless motor 2, a rotor arm 3 and a fuselage 4.
- the combined output force of the six motors and the combined rotational torque constitute the control amounts u 1 to u 4 of the multi-rotor aircraft.
- the control design of the present invention is to solve the control amount of the multi-rotor aircraft through the designed finite-time variable-parameter convergence differential neural network, thereby controlling the flight of the aircraft and realizing the stable control of the aircraft.
- the direction of the rotating arrow in FIG. 3 and FIG. 4 indicates the direction of rotation of the motor, and the combination of the clockwise and counterclockwise directions of the illustrated rotating direction is to achieve mutual cancellation of the motor torque to achieve stable steering control.
- Figure 5 shows a schematic diagram of the body coordinate system in which the multi-rotor aircraft is located. According to the body coordinate system, the following definitions are made:
- the pitch angle ⁇ (t) is the angle between the x-axis of the body and the ground level of the earth, and the setting is positive downward;
- the roll angle ⁇ (t) is the angle between the z-axis of the body and the vertical plane of the earth passing the x-axis of the body, and the aircraft is positive when it is to the right;
- the yaw angle t(t) is the angle between the projection of the x-axis of the body on the horizontal plane and the x-axis in the geodetic coordinate system, and the nose is positive to the left.
- attitude variable of the present invention utilizes a four-element algorithm and a Kalman filter algorithm to obtain real-time attitude data ⁇ (t), ⁇ (t) of the aircraft using sensors such as a gyroscope and an accelerometer mounted on the multi-rotor aircraft. And ⁇ (t), using the height sensor and the position sensor to obtain the position data x(t), y(t) and z(t) of the aircraft in three-dimensional space.
- the above completes the relevant content of the flowchart sensor data acquisition 1.
- the dynamics analysis can be completed by the following aircraft dynamics modeling steps:
- m is the total mass of the aircraft
- I is a 3 ⁇ 3 unit matrix
- J is the inertia matrix of the aircraft
- v and w are the velocity vectors and angular velocity vectors of the aircraft ground coordinate system
- F and G are the axial outputs of the aircraft motor respectively.
- the component vector of force and the axial component of gravity, and T is the rotational moment vector of the aircraft;
- the ground coordinate system X G and the aircraft body coordinate system X U are established.
- X U KX G , in the conversion relationship, K is between the ground coordinate system and the body coordinate system.
- Rotating transformation matrix can be expressed as
- C ⁇ represents cos ⁇ (t)
- S ⁇ represents sin ⁇ (t)
- ⁇ (t) is a pitch angle
- ⁇ (t) is a yaw angle
- ⁇ (t) is a roll angle
- x, y, z are the position coordinates of the aircraft in the world coordinate system; J x , J y and J z are the moments of inertia of the aircraft in the x-axis, y-axis and z-axis directions respectively; l is the arm length; g is Gravity acceleration; the combined control quantity u 1 ⁇ u 4 is composed of the output thrust of the aircraft motor and the combined torque, u 1 (t) is the resultant force in the vertical direction of the aircraft, and u 2 (t) is the combined force in the roll angle direction, u 3 (t) is the combined force in the pitch angle direction, and u 4 (t) is the combined torque in the yaw angle direction.
- the finite-time variable parameter of the control quantity u 1 ⁇ u 4 converges the system parameter deviation function of the differential neural network
- a finite-time variable-parameter convergence differential neural network solver is designed based on the obtained system parameter deviation function of the finite-time variable-parameter convergence differential neural network with respect to the output control quantities u 1 ⁇ u 4 .
- step S3 the finite-time variable-parameter convergence differential neural dynamics design method is respectively adopted by the z-axis height z(t), the roll angle ⁇ (t), the pitch angle ⁇ (t), and the yaw angle ⁇ (t)
- the steps of designing the system parameter deviation function of the finite time variable parameter convergence differential neural network of the output control quantity u 1 ⁇ u 4 specifically include:
- the position layer z(t) can converge to the time-varying target value z T (t) with a super exponential in a finite time, but since equation (3) does not contain relevant information about the control quantities u 1 ⁇ u 4 , the pair cannot be realized.
- the control quantity is solved, so it is necessary to further design the speed layer.
- Acceleration layer Deviation function then define According to the finite-time variable parameter convergence differential neural network design method, the dynamic equation based on the deviation function can be designed.
- equation (5) can be rewritten as
- the aircraft reaches the target state, and according to the dynamic model equation, the deviation function can be converted into
- the aircraft reaches the target state, and according to the dynamic model equation, the deviation function can be converted into
- the aircraft reaches the target state, and according to the dynamic model equation, the deviation function can be converted into
- the step of designing the finite time variable parameter convergence differential neural network solver according to the determined system parameter deviation function of the finite time variable parameter convergence differential neural network with respect to the output control quantity u 1 ⁇ u 4 in step S4 respectively includes: :
- a finite-time variable-parameter convergence differential neural network design method can be used to design Formula (6) and its derivatives Substitution, the implicit dynamic equations of finite-time variable-parameter convergence differential neural networks can be obtained.
- the calculated control quantities u 1 (t) to u 4 (t) are assigned different output control according to the structure of the different rotorcraft and the number of motors.
- control quantity u 1 ⁇ u 4 obtained by the above neural network solving process, for each aircraft structure and the number of motors, the control of each motor is realized by the corresponding motor control quantity distribution, and the flow control motor control quantity distribution is completed. And motor control.
- the present invention can be completed in accordance with the above steps.
- the present invention first acquires its own real-time flight azimuth and attitude data through the sensors of the multi-rotor UAV, and analyzes the kinematics of the aircraft by the carried processor to establish an aircraft dynamics model. Then, according to the finite-time variable-parameter convergence differential neural dynamics design method, the finite-time variable-parameter convergence differential neural network solver of the multi-rotor aircraft dynamics model is designed. Then, the acquired real-time azimuth and attitude data of the aircraft are used to change the parameters through finite time.
- the convergence differential neural network solver solves the various output control quantities of the aircraft motor; finally, the solution result is transmitted to the various motor governors of the aircraft to control the unmanned aircraft motion.
- the invention is based on the finite-time variable parameter convergence differential neural dynamics method, and can quickly and accurately and accurately approximate the correct solution of the problem, and can well solve various time-varying problems such as matrix, vector, algebra and optimization.
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Abstract
Description
Claims (5)
- 一种基于有限时间神经动力学的多旋翼无人飞行器的稳定飞行控制方法,其特征在于,所述的控制方法包括如下步骤:S1、通过多旋翼无人机的传感器获取自身的飞行实时方位和姿态数据,并通过所搭载的处理器对飞行器的运动学问题进行相应的解析处理,建立飞行器动力学模型;S2、根据有限时间变参收敛微分神经动力学设计方法,设计多旋翼飞行器动力学模型的有限时间变参收敛微分神经网络求解器;S3、利用获取的飞行器实时方位和姿态数据,通过有限时间变参收敛微分神经网络求解器求解飞行器电机的各个输出控制量;S4、将求解出的各个输出控制量传递给飞行器各个电机调速器以控制无人飞行器运动。
- 根据权利要求1所述的一种基于有限时间神经动力学的多旋翼无人飞行器的稳定飞行控制方法,其特征在于,所述的步骤S1中通过所搭载的处理器对飞行器的运动学问题进行相应的解析处理,建立飞行器动力学模型具体包括:忽略飞行器所受空气阻力作用,针对飞行器***可以建立物理模型:其中,m为飞行器的总质量,I为3×3单位矩阵,J为飞行器转动惯量矩阵,v和w为飞行器地面坐标系的速度矢量以及角速度矢量,F和G分别为飞行器电机输出合力轴向分力矢量和重力的轴向分力矢量,T为飞行器转动力矩矢量;建立地面坐标系XG以及飞行器机体坐标系XU,其中地面坐标系和机体坐标系之间存在以下关系:XU=KXG,转换关系中,K为地面坐标系以及机体坐标系之间的旋转变换矩阵,可以表示为其中Cθ表示cosθ(t),Sθ表示sinθ(t),θ(t)为俯仰角,ψ(t)为偏航角,φ(t)为横滚角;根据坐标变换理论,在飞行器的平动方向以及转动方向上,根据以上物理模型可以获得如下在飞行器机体坐标系上的动力学方程其中,x,y,z分别为飞行器在世界坐标系中的位置坐标,Jx,Jy和Jz分别为飞行器在x轴、y轴和z轴方向的转动惯量,l为臂长,g为重力加速度,合成控制量u1~u4由飞行器电机的输出推力以及合成转矩构成,u1(t)为飞行器垂直上升方向上的合力,u2(t)为横滚角方向合力,u3(t)为俯仰角方向合力,u4(t)为偏航角方向合成转矩。
- 根据权利要求2所述的一种基于有限时间神经动力学的多旋翼无人飞行器的稳定飞行控制方法,其特征在于,所述的步骤S2中根据有限时间变参收敛微分神经动力学设计方法,设计多旋翼飞行器动力学模型的有限时间变参收敛微分神经网络求解器具体包括:通过有限时间变参收敛微分神经动力学设计方法,分别由z轴高度z(t)、横滚角φ(t)、俯仰角θ(t)和偏航角ψ(t)出发,设计关于输出控制量u1~u4的有限时间变参收敛微分神经网络的***参数偏差函数;分别根据所求出的关于输出控制量u1~u4的有限时间变参收敛微分神经网络的***参数偏差函数,设计有限时间变参收敛微分神经网络求解器。
- 根据权利要求3所述的一种基于有限时间神经动力学的多旋翼无人飞行器的稳定飞行控制方法,其特征在于,所述的通过有限时间变参收敛微分神经动力学设计方法,分别由z轴高度z(t)、横滚角φ(t)、俯仰角θ(t)和偏航角ψ(t)出发,设计关于输出控制量u1~u4的有限时间变参收敛微分神经网络的***参数偏差函数的步骤具体包括:S201、针对z轴高度z(t),根据z轴方向上的设定目标高度值以及实际高度值zT(t),在位置层上可以定义关于实际高度值z(t)偏差函数ez1为:ez1(t)=z(t)-zT(t),为了使实际值z(t)能够收敛到时变目标值zT(t),根据有限时间变参收敛微分神经动力学设计方 法,设计基于偏差函数的神经动力学方程其中γ(t)=p+tp为时变参数,表示收敛率调节因子;位置层z(t)能够在有限时间内以超指数收敛到时变目标值zT(t),但是由于等式(3)不包含关于控制量u1~u4的相关信息,无法实现对控制量的求解,故需要再进一步设计包含速度层以及加速度层的偏差函数,于是定义根据有限时间变参收敛微分神经网络设计方法,可以设计基于偏差函数的动力学方程为获得神经网络的实际模型,结合动力学方程(2),等式(5)能被改写为Ez(t)=az(t)u1(t)+bz(t), (6)飞行器达到目标状态,根据所述的动力学模型方程,偏差函数可以转化为其中也即获得了关于输出控制量u2(t)的偏差函数;飞行器达到目标状态,根据所述的动力学模型方程,偏差函数可以转化为其中,也即获得了关于输出控制量u3(t)的偏差函数;飞行器达到目标状态,根据所述的动力学模型方程,偏差函数可以转化为其中
- 根据权利要求4所述的一种基于有限时间神经动力学的多旋翼无人飞行器的稳定飞行控制方法,其特征在于,所述的分别根据所求出的关于输出控制量u1~u4的有限时间变参收敛微分神经网络的***参数偏差函数,设计有限时间变参收敛微分神经网络求解器的步骤具体包括:S215、求解合成控制量u1~u4即为对应飞行器飞行需求的控制量,根据等式(19), (20),(21),(22)分别获得控制量u1~u4的神经网络方程,具体分别如下:将求解出的控制量u1~u4根据不同旋翼飞行器的结构以及电机数目进行不同的输出控制分配。
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