The invention discloses an active-disturbance-rejection flight control method for an active-deformation four-rotor aircraft, and the method comprises the steps: S1, carrying out the structural designof the active-deformation four-rotor aircraft according to two types of deformation modes of the active-deformation four-rotor aircraft; S2, according to the active deformation four-rotor aircraft structure designed in the step S1, deducing changes of the gravity center position and inertia tensor parameters during dynamic deformation; S3, deducing a kinetic model and a control distribution form of the active deformation four-rotor aircraft according to the steps S1 and S2; and S4, designing a pose active disturbance rejection flight controller according to the kinetic model of the active deformation four-rotor aircraft established in the step S3. According to the four-rotor aircraft based on the active disturbance rejection control technology, through active deformation in flight, the defect that a conventional four-rotor aircraft is difficult to adapt to different task environments can be overcome, the four-rotor aircraft has good stability and disturbance rejection, and the environmental adaptability of a multi-rotor aircraft is improved.
本发明公开了主动变形四旋翼飞行器自抗扰飞行控制方法,包括:S1、根据主动变形四旋翼飞行器的两种变形方式,对主动变形四旋翼飞行器进行结构设计;S2、根据步骤S1中所设计的主动变形四旋翼飞行器结构,推导动态变形时机体重心位置、惯性张量参数的变化;S3、根据步骤S1、S2推导出主动变形四旋翼飞行器的动力学模型和控制分配形式;S4、根据步骤S3中所建立的主动变形四旋翼飞行器的动力学模型,设计位姿自抗扰飞行控制器。本发明提出的基于自抗扰控制技术的四旋翼飞行器通过飞行中的主动变形,可克服常规四旋翼飞行器难以适应不同任务环境的缺点,具有良好的稳定性和抗扰性,提升了多旋翼飞行器的环境适应能力。
Active-disturbance-rejection flight control method for active-deformation four-rotor aircraft
主动变形四旋翼飞行器自抗扰飞行控制方法
2021-02-23
Patent
Electronic Resource
Chinese
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