动态电子围栏下四旋翼无人机反步滑模飞行控制

Reverse sliding mode flight control of quadcopter unmanned aerial vehicle under dynamic electronic fence

摘要:

为了提高四旋翼无人机飞行姿态的控制效果,确保无人机在特定区域内执行高稳定性飞行任务,针对动态电子围栏下,四旋翼无人机反步滑模飞行控制方法展开研究。首先利用GIS动态电子围栏技术精确界定无人机的飞行区域边界,为无人机的安全飞行提供坚实的空间约束。其次,采用滑模控制器,对四旋翼无人机飞行姿态与状态的精准调控,确保其在复杂环境中飞行的保持稳定。再次,引入四阶贝塞尔曲线对预设飞行轨迹进行精细化平滑处理,提升了飞行路径的流畅性。在控制策略的设计上,严格遵循热流率、过载、动压及平衡滑翔等四大关键约束条件,构建了满足控制约束条件的控制律,生成飞行区域控制指令,指导无人机按照既定的飞行区域控制逻辑进行高效、稳定的飞行。通过实验证明:在日、夜两种实验场景下,利用本文方法对四旋翼无人机飞行进行控制的无人机出界程度较低,飞行稳定系数较高,说明本文方法的控制效果较好,具有较好的实际应用效果。

关键词:动态电子围栏;反步滑模;四旋翼无人机;飞行区域;飞行控制;

Abstract:

In order to improve the control effect of quadcopter unmanned aerial vehicle (UAV) flight attitude and ensure the UAV performs high stability flight tasks in specific areas, research is conducted on the backstepping sliding mode flight control method for quadcopter UAVs under dynamic electronic fences. Firstly, the GIS dynamic electronic fence technology is used to accurately define the boundary of the drone"s flight area, providing solid spatial constraints for the safe flight of the drone. Secondly, a sliding mode controller is adopted to precisely control the flight attitude and state of the quadcopter drone, ensuring its stability in complex environments. Once again, the introduction of Bezier curves to refine and smooth the preset flight trajectory has improved the smoothness of the flight path. In the design of the control strategy, strict adherence to the four key constraints of heat flux, overload, dynamic pressure, and balanced gliding is strictly followed. A control law that satisfies the control constraints is constructed, and flight area control instructions are generated to guide the drone to fly efficiently and stably according to the established flight area control logic. Through experiments, it has been proven that in both day and night scenarios, the method proposed in this paper for controlling the flight of quadcopter drones has a lower degree of out of bounds and a higher flight stability coefficient. This indicates that the control effect of the method proposed in this paper is good and has good practical application results.

Key words:Dynamic electronic fence; Backstepping sliding mode; Quadcopter unmanned aerial vehicle; Flight area; Flight control;