吉林大学学报(工学版) ›› 2023, Vol. 53 ›› Issue (3): 883-890.doi: 10.13229/j.cnki.jdxbgxb20221313

• 通信与控制工程 • 上一篇    

共轴倾转旋翼无人机有限时间滑模姿态控制

陈珑茏1,2(),冯天宇1,2,吕宗阳1,3(),吴玉虎1,2   

  1. 1.大连理工大学 工业装备智能控制与优化教育部重点实验室，辽宁 大连 116024
    2.大连理工大学 控制科学与工程学院，辽宁 大连 116024
    3.大连理工大学 通信与信息工程学院，辽宁 大连 116024
  • 收稿日期:2022-10-07 出版日期:2023-03-01 发布日期:2023-03-29
  • 通讯作者: 吕宗阳 E-mail:chenlonglongdlut@163.com;zongyanglv@dlut.edu.cn
  • 作者简介:陈珑茏（1988-），男，博士研究生. 研究方向：倾转旋翼飞行器运动控制. E-mail：chenlonglongdlut@163.com
  • 基金资助:
    国家自然科学基金项目(62173062);辽宁振兴人才计划项目(XLYC1907100)

Finite⁃time sliding mode attitude control for coaxial tilt⁃rotor unmanned aerial vehicle

Long-long CHEN1,2(),Tian-yu FENG1,2,Zong-yang LYU1,3(),Yu-hu WU1,2   

  1. 1.Key Laboratory of Intelligent Control and Optimization for Industrial Equipment，Ministry of Education，Dalian University of Technology，Dalian 116024，China
    2.School of Control Science and Engineering，Dalian University of Technology，Dalian 116024，China
    3.School of Communications and Information Engineering，Dalian University of Technology，Dalian 116024，China
  • Received:2022-10-07 Online:2023-03-01 Published:2023-03-29
  • Contact: Zong-yang LYU E-mail:chenlonglongdlut@163.com;zongyanglv@dlut.edu.cn

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摘要：

针对受外界干扰的共轴倾转旋翼无人机姿态控制问题，设计了一种有限时间滑模控制器（FTSMC），以提高姿态控制的跟踪能力和在不确定干扰下的鲁棒性。采用牛顿-欧拉法建立了无人机姿态动力学模型，调整动力分配以克服无人机控制通道的过驱动。应用李雅普诺夫理论验证了有限时间滑模控制器的稳定性。最后，在Matlab/SimMechanics平台中进行仿真测试，以验证本文所设计控制器的性能。

关键词: 控制理论与控制工程, 共轴倾转旋翼, 无人机, 有限时间滑模控制器, 姿态控制

Abstract:

In order to solve the attitude control problem of the coaxial tilt-rotor unmanned aerial vehicle which is influenced by external disturbance， a finite-time sliding mode controller （FTSMC） was designed to improve the tracking performance of attitude control and the robustness under uncertain disturbance. The Newton-Euler method was used to establish the attitude dynamics model of the UAV， the power distribution was adjusted to solve the over-actuated problem of the UAV， the stability of the FTSMC was verified by using Lyapunov theory， and finally， the simulation test was utilized in the Matlab/SimMechanics platform to verify the performance of the proposed controller.

Key words: control theory and control engineering, coaxial tilt-rotor, unmanned aerial vehicle, finite-time sliding mode controller（FTSMC）, attitude control

中图分类号: 

  • V279

图1

共轴倾转旋翼无人机的参考系"

表1

结构参数"

参 数数值
dxL，dxR，dxB/m0.078，0.078，-0.24
dyL，dyR/m0.151，-0.151
Ixx /（kg·m2）1.1×10-2
Iyy /（kg·m2）8.959×10-2
Izz /（kg·m2）1.6981×10-2
b/（N·s2·rad-2）9.6×10-6
k/（N·m·s2·rad-2）2.4×10-7

图2

共轴倾转旋翼无人机的姿态跟踪"

图3

姿态跟踪误差"

图4

姿态跟踪下的控制输入"

图5

姿态跟踪下的倾转角变化"

图6

Matlab/SimMechanics仿真"

表2

姿态跟踪性能"

性能上升时间/s最大超调量稳定时间/s震荡幅值/（°）
参数PIDFTSMCPIDFTSMCPIDFTSMCPIDFTSMC
滚转角0.380.2003.1%0.580.295.460.25
俯仰角0.380.18017.2%0.610.496.090.3
偏航角0.280.233.9%25.6%0.460.783.751.44
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