旋翼无人机目标推力矢量最速趋近法

doi:10.3969/j.issn.0255-8297.2017.02.011

应用科学学报 ›› 2017, Vol. 35 ›› Issue (2): 244-256.doi: 10.3969/j.issn.0255-8297.2017.02.011

旋翼无人机目标推力矢量最速趋近法

邓诗谦, 程万胜, 王恺

辽宁科技大学电子与信息工程学院, 辽宁鞍山 114051

收稿日期:2016-01-19 修回日期:2016-07-30 出版日期:2017-03-30 发布日期:2017-03-30
通信作者: 程万胜,教授,研究方向:机器人控制研究与应用、传感器检测技术,E-mail:cws@ustl.edu.cn E-mail:cws@ustl.edu.cn

Steepest Approaching Method for Tracking Desired Thrust Vectoring of Rotor UAVs

DENG Shi-qian, CHENG Wan-sheng, WANG Kai

School of Electronic and Information Engineering, University of Science and Technology of Liaoning, Anshan 114051, Liaoning Province, China

Received:2016-01-19 Revised:2016-07-30 Online:2017-03-30 Published:2017-03-30

摘要/Abstract

摘要：

针对旋翼无人机轨迹跟踪任务，提出一种基于四元数等效旋转矢量的目标推力矢量快速趋近法，用以优化此类飞行器的轨迹跟踪控制方式.具体过程如下：由位置控制环生成主旋翼目标推力矢量，求出当前推力矢量到目标矢量的最小旋转矢量和姿态改变最小的变化四元数，进而得到目标姿态四元数，再以该四元数作为姿态控制环给定量，实现目标推力矢量快速趋近.仿真与飞控平台验证表明：该方法能使推力矢量以最优路径趋向目标矢量，减小了旋翼无人机姿态变化量，缩短了姿态跟踪时间.利用该方法优化设计了轨迹跟踪控制方案，与其他未经优化的有关方案相比，该方案整体计算量小，更适用于成本受限的低端嵌入式控制器.

关键词: 推力矢量, 四元数, 串级PID控制, 旋翼无人机, 等效旋转矢量, 反步法

Abstract:

As for the trajectory tracking task of rotor UAVs, this paper proposes a fast approaching method based on the equivalent rotation vector of quaternion, to be used to optimize the control mode of trajectory tracking. The process is described as follows:when a thrust vectoring target is generated in the position control loop, the minimum rotation vector and minimum attitude change quaternion can be defined with this method. The desired attitude quaternion is then obtained, and provided to the attitude control loop to realize fast approaching to the desired thrust vectoring. Results of simulation and flight control system tests show that the proposed method enables thrust vectoring to track the target vector with an optimal path. Meanwhile, it can decrease the UAVs' attitude variation and tracking time. A trajectory tracking control solution is also designed by using the steepest approach method. Compared with other solutions without optimization, the solution given in this paper requires less computation. It is especially suitable for applications with low cost embedded controllers.

Key words: thrust vectoring, backstepping, cascade PID control, quaternion, rotor UAV, equivalent rotation vector

中图分类号:

TN911.73

邓诗谦, 程万胜, 王恺. 旋翼无人机目标推力矢量最速趋近法[J]. 应用科学学报, 2017, 35(2): 244-256.

DENG Shi-qian, CHENG Wan-sheng, WANG Kai. Steepest Approaching Method for Tracking Desired Thrust Vectoring of Rotor UAVs[J]. Journal of Applied Sciences, 2017, 35(2): 244-256.

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旋翼无人机目标推力矢量最速趋近法

Steepest Approaching Method for Tracking Desired Thrust Vectoring of Rotor UAVs

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