Interference and inhibition of lift fluctuation on quadrotor aircraft

ZHAO Chang-jun; GONG Xun; BAI Yue; XU Zhi-jun; XU Dong-fu; GAO Qing-jia

doi:10.3788/OPE.20142209.2431

您当前的位置：

首页 >

文章列表页 >

Interference and inhibition of lift fluctuation on quadrotor aircraft

更新时间：2020-08-13

- Interference and inhibition of lift fluctuation on quadrotor aircraft
- Optics and Precision Engineering Vol. 22, Issue 9, Pages: 2431-2437(2014)
- 作者机构：
  
  1. 中国科学院长春光学精密机械与物理研究所,吉林长春,中国,130033
  2. 中国科学院大学北京,中国,100049
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20142209.2431
  CLC： V211.4
- Received：28 November 2013，
  
  Revised：05 January 2014，
  
  Published：25 September 2014
- 稿件说明：
移动端阅览
赵常均, 宫勋, 白越等. 四旋翼飞行器中升力波动的干扰与抑制[J]. 光学精密工程, 2014,22(9): 2431-2437

ZHAO Chang-jun, GONG Xun, BAI Yue etc. Interference and inhibition of lift fluctuation on quadrotor aircraft[J]. Editorial Office of Optics and Precision Engineering, 2014,22(9): 2431-2437
赵常均, 宫勋, 白越等. 四旋翼飞行器中升力波动的干扰与抑制[J]. 光学精密工程, 2014,22(9): 2431-2437 DOI： 10.3788/OPE.20142209.2431.

ZHAO Chang-jun, GONG Xun, BAI Yue etc. Interference and inhibition of lift fluctuation on quadrotor aircraft[J]. Editorial Office of Optics and Precision Engineering, 2014,22(9): 2431-2437 DOI： 10.3788/OPE.20142209.2431.

摘要

四旋翼飞行器旋翼产生的升力是在基值的基础上附加一系列频率特性和旋翼转速有关的高频分量。由于它会对飞行器的控制产生扰动，本文研究了这类高频升力分量对飞行器的影响并给出了抑制扰动的方法。首先，基于拉格朗日能量法建立四旋翼飞行器动力学模型；进而分析了高频升力分量与飞行器角速度扰动之间的关系。然后，将角速度反馈环节加入针对有色噪声的卡尔曼滤波器来抑制角速度扰动对控制器的影响。实验结果显示：与改进前相比，采用本文的方法对四旋翼原型机进行悬停控制可使控制量波动减少50%，高频控制量衰减至-17db以下。结果表明：采用本文的方法，可以有效地抑制升力波动对四旋翼飞行器的影响，提高飞行控制效率。

Abstract

The lift of a quad-rotor aircraft is composed of series frequencies related to the rotor speeds. As it will interferes the control of the aircraft

this paper analyzes the effect of high-frequency lift component on the aircraft and gives an inhibiting method for the lift fluctuation. Firstly

the dynamic model of quad rotor aircraft was established by Lagrangians method and the relational expression between the high-frequency lift component and the disturbance of aircraft angular velocity was obtained. According to the previous analysis

the angular velocity feedback loop was joined a Kalman filter for colored noise to restrain the disturbance of angular velocity acting on the controller. A prototype was designed. The testing results show when the proposed method is used in hovering control of the quad rotor aircraft

the control variable fluctuations decrease by 50% and the high frequency control volume attenuates to under -17 db as compared with that of traditional PID method

respectively. The method of this paper effectively solves the effect of lift fluctuation on the quad rotor aircraft and improves the efficiency of control.

关键词

Keywords

references

Office of the Secretary of Defense. Unmanned aerial roadmap 2002—2027 [R].Washington, DC 20301:Office of the Secretary of Defense, 2002.

KIS L, LANTOS B. Quadrotor control based on partial sensor data [C]. Proceedings of the 19th International Workshop on Robotics in Alpe-Adria-Danube Region, Budapest, 2010.

SHARIFI F, MIRZAEI M, GORDON B W, et al.. Fault tolerant control of a quadrotor UAV using sliding mode control [C]. Proceeding of the 2010 Conference on Control and Fault Tolerant Systems, Nice, 2010.

CASTILLO P, LOZANO R, DZUL A. Stabilization of a mini rotorcraft with four rotors [J].IEEE Control Systems Magazine, 2005, 25(6):45-55.

DAS A, SUBBARAO K, LEWIS F. Dynamic inversion with zero-dynamics stabilization for quad-rotor control [J].IET Control Theory Applications, 2009, 3(3):303-314.

ZUO Z. Trajectory tracking control design with command-filtered compensation for a quadrotor [J]. IET Control Theory Applications, 2010, 4(11):2343-2355.

陈向坚, 李迪,白越,等. 模糊神经网络在自适应双轴运动控制系统中的应用[J]. 光学精密工程,2011,19(7):1643-1650. CHEN X J, LI D, BAI Y, et al.. Application of type-II fuzzy neural network to adaptive double axis motion control system [J]. Opt.Precision Eng., 2011, 19(7):1643-1650.(in Chinese)

陈向坚, 李迪,续志军,等. 四旋翼微型飞行器的区间二型模糊神经网络自适应控制[J]. 光学精密工程,2012,20(6):1334-1341. CHEN X J, LI D, BAI Y, et al.. Application of type-II fuzzy neural network to adaptive double axis motion control system [J]. Opt.Precision Eng., 2011, 19(7):1643-1650. (in Chinese)

HOU Z C, GONG X, BAI Y, et al.. Robust trajectory tracking control of autonomous quad-rotor UAV based on double loop frame[C].Key Engineering Materials, 2011:1421-1426.

宫勋, 白越, 赵常均,等. 新型Hex-Rotor无人机器人及其飞行控制系统设计[J]. 光学精密工程, 2012, 20(11):1995-2002. GONG X, BAI Y, ZHAO CH J, et al..Novel Hex-Rotor aircraft and its autonomous flight control system [J].Opt.Precision Eng., 2012, 20(11):1995-2002. (in Chinese)

NORDKVIST N, SANYAL A. A Lie group variational integrator for rigid body motion in SE(3) with applications to under-water vehicle dynamics[C]. Proceedings of the 49th IEEE Conference on Decision and Control, 2010:5414-5419.

LEE T, LEOK M, MCCLAMROCH N H. Geometric tracking control of a quadrotor UAV on SE(3) [C]. Proceedings of the 49th IEEE Conference on Decision and Control, 2010:5420-5425.

王小旭, 梁彦, 潘泉,等. 带有色量测噪声的非线性系统Unscented卡尔曼滤波器[J]. 自动化学报,2012,38(6):986-998. WANG X X,LIANG Y,PAN Q, et al..Unscented kalman filter for nonlinear systems with colored measurement noise [J].Acta Automatica Sinica,2012,38(6):986-998. (in Chinese)

Views

408

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Kalman filter based output feedback predictive control for piezoelectric ceramic actuators

Multi-machine cooperative passive localization based on MEMS/GNSS

Design and validation of ballistic missile midcourse penetration trajectory

Compensation of time delay in ship deformation measured by attitude matching

Subspace identification for dynamically tuned gyroscope

Related Author

SUN Shaoyu

LIN Baojun

LIU Dongmei

FENG Yangyang

LI Jianpu

TAN Li

YU Shuyou

Hong-qian LU

Related Institution

College of Electronic and Information Engineering， Changchun University

Key Laboratory of Industrial Internet of Things and Networked Control， Ministry of Education， Chongqing University of Posts and Telecommunications

Department of Control Science and Engineering， Jilin University

Space Vehicle Survival Technology and Effectiveness Evaluation Laboratory

School of Astronautics， Harbin Institute of Technology

AI问答

Address：No.3888 Dong Nanhu Road, Changchun, Jilin, China Postal code：130033
Tel：0431-86176855 Email：gxjmgc@ciomp.ac.cn
Technical support is provided by Beijing Founder electronics co., LTD 吉ICP备11002662号-17 京公网安备11010802024621
It is recommended to read the content of this site in Chrome&IE9+. Please switch to extreme mode in browser 360.
Cookies We use cookies to help provide and enhance our service and tailor content. By continuing, you agree to the use of cookies.

⁰