应对风切变的四旋翼轨迹跟踪几何控制方法  

Geometric Control Method for Quadcopter Trajectory Tracking for Wind Shear

作　　者：褚金奎[1,2] 钱煜晖 张钟元 李金山 CHU Jinkui;QIAN Yuhui;ZHANG Zhongyuan;LI Jinshan(School of Mechanical Engineering,Dalian University of Technology,Dalian 116024,China;Ningbo Institute,Dalian University of Technology,Ningbo 315032,China)

机构地区：[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

出　　处：《机械与电子》2024年第9期45-51,共7页Machinery & Electronics

基　　金：国家自然科学基金资助项目(52175265);创新研究群体项目(52275281)。

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。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.

关 键 词：四旋翼 几何控制 增量非线性动态逆 微分平坦 

分 类 号：V279[航空宇航科学与技术—飞行器设计] V249