[1]褚金奎,钱煜晖,张钟元,等.应对风切变的四旋翼轨迹跟踪几何控制方法[J].机械与电子,2024,42(09):45-51.
　CHU Jinkui,QIAN Yuhui,et al.Geometric Control Method for Quadcopter Trajectory Tracking for Wind Shear[J].Machinery & Electronics,2024,42(09):45-51.
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应对风切变的四旋翼轨迹跟踪几何控制方法()
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
42
期数:
2024年09期
页码:
45-51
栏目:
智能制造
出版日期:
2024-09-27

文章信息/Info

Title:
Geometric Control Method for Quadcopter Trajectory Tracking for Wind Shear
文章编号:
1001-2257 ( 2024 ) 09-0045-07
作者:
褚金奎 1 ; 2 ; 钱煜晖 1 ; 张钟元 1 ; 李金山 1
1. 大连理工大学机械工程学院,辽宁 大连 116024 ;?
2. 大连理工大学宁波研究院,浙江 宁波 315032
Author(s):
CHU Jinkui1 ;  2 ;  QIAN Yuhui1 ;  ZHANG Zhongyuan1 ;  LI Jinshan1
( 1.School of Mechanical Engineering , Dalian University of Technology , Dalian 116024 , China ;
2.Ningbo Institute , Dalian University of Technology , Ningbo 315032 , China )
关键词:
四旋翼; 几何控制; 增量非线性动态逆; 微分平坦
Keywords:
quadcopter ;  geometric control ;  incremental nonlinear dynamic inversion ;  differential flatness
分类号:
V279 ; V249
文献标志码:
A
摘要:
针对存在风切变环境的四旋翼轨迹跟踪问题,提出了结合增量非线性动态逆的几何控制方法。首先,建立了基于 SO ( 3 )群的风切变扰动四旋翼动力学模型,并建立风场模型,引入风切变效应。其次,利用四旋翼的微分平坦特性将轨迹跟踪问题转换为状态跟踪问题,并依据微分平坦特性推导参考高阶状态量实现前馈控制。在控制器设计部分,姿态控制采用几何控制,使姿态具有全局不存在奇异点的特性。对于风场扰动带来的阻力与气动力矩,使用增量非线性动态逆方法进行补偿,实现线加速度和角加速度的控制。最后,基于 Simulink 在多种风速场景中对不同航迹进行了仿真实验,仿真结果验证了所提方法相较传统方法在面对风切变干扰情况下的有效性。
Abstract:
This paper proposes a geometric control method combining incremental nonlinear dynamic inversion , which can take into account the wind shear during the trajectory tracking problem of quadcopter. Firstly , we establish a quadcopter dynamics model based on SO ( 3 ) group in wind and wind models with wind shear.The trajectory tracking problem is transformed into a state tracking problem by the differential flatness of quadcopters , achieving feed forward control.In the controller design section , the control method of attitude is geometric control , and attitudes do not exhibit singularities.The drag force and aerodynamic torque caused by wind are compensated by incremental nonlinear dynamic inversion.This helps implement linear acceleration control and angular acceleration control.Finally , we simulate different trajectories in different wind speed scenarios by Simulink.The simulation results verify that the proposed control method has better tracking performance compared to traditional methods under wind shear interference.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期: 2024-03-01
基金项目:国家自然科学基金资助项目( 52175265 );创新研究群体项目( 52275281 )
作者简介:褚金奎 ( 1965- ),男,河南平顶山人,教授,博士研究生导师,研究方向为微机器人、智能机器人等,通信作者;钱煜晖 ( 1998- ),女,黑龙江大庆人,硕士研究生,研究方向为四旋翼控制与仿真系统。
更新日期/Last Update: 2024-09-25