状态约束与驱动饱和下多旋翼无人机抗大气紊流干扰控制方法

Anti atmospheric turbulence interference control method for multi rotor unmanned aerial vehicles under state constraints and drive saturation

摘要:

多旋翼无人机常执行危险且难度系数高的任务,虽然机体灵活方便,但通道间的耦合性相对较强。针对大气紊流干扰下的无人机控制问题,本文设计了状态约束与驱动饱和下的多旋翼无人机抗大气紊流干扰控制方法。首先,生成特定紊流序列,并以此为基础,选取用于效应分析的频谱函数,进而针对性分析大气紊流效应。然后,设计状态约束与驱动饱和下的PID控制器,在该控制标准下进行动力学坐标转换,完成动力学模型的数学运算,实现基于状态约束与驱动饱和的无人机动力特性的研究。最后,定义大气紊流扰动下的多旋翼无人机飞行模型,根据姿态角的取值,对无人机飞行进行逆误差补偿,并利用约束控制器,求解抗大气紊流干扰的变论域控制方程,完成多旋翼无人机抗大气紊流干扰控制方法的设计。实验结果表明,所设计方法在抗大气紊流干扰方面的性能明显优于基于改进扩展状态观测器和基于改进LESO的控制方法,在强干扰下也能保证多旋翼无人机的平稳飞行,应用效果较好。

Abstract:

Multi rotor unmanned aerial vehicles often perform dangerous and difficult tasks. Although the body is flexible and convenient, the coupling between channels is relatively strong. In response to the control problem of unmanned aerial vehicles under atmospheric turbulence interference, this paper designs a multi rotor unmanned aerial vehicle anti atmospheric turbulence interference control method under state constraints and drive saturation. Firstly, generate a specific turbulence sequence and use it as a basis to select a spectral function for effect analysis, and then analyze the atmospheric turbulence effect in a targeted manner. Then, design a PID controller under state constraints and drive saturation, perform dynamic coordinate transformation under this control standard, complete mathematical operations of the dynamic model, and achieve research on the dynamic characteristics of unmanned aerial vehicles based on state constraints and drive saturation. Finally, a multi rotor unmanned aerial vehicle (UAV) flight model under atmospheric turbulence disturbance is defined. Based on the attitude angle value, the UAV flight is compensated for inverse error, and a constraint controller is used to solve the variable domain control equation for resisting atmospheric turbulence interference. The design of the UAV"s anti atmospheric turbulence interference control method is completed. The experimental results show that the designed method has significantly better performance in resisting atmospheric turbulence interference than the control methods based on improved extended state observer and improved LESO. It can also ensure smooth flight of multi rotor unmanned aerial vehicles under strong interference, and the application effect is good.