多约束条件下四旋翼机动轨迹跟踪一体化控制方法

王英勋; 李欣; 蔡志浩; 赵江

doi:10.13700/j.bh.1001-5965.2022.0208

多约束条件下四旋翼机动轨迹跟踪一体化控制方法

doi: 10.13700/j.bh.1001-5965.2022.0208

北京航空航天大学自动化科学与电气工程学院，北京 100191

详细信息

通讯作者:
E-mail：jzhao@buaa.edu.cn

中图分类号: V249.1；TP249
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- 被引次数: 0
出版历程
- 收稿日期: 2022-04-02
- 录用日期: 2022-06-12
- 网络出版日期: 2022-06-23
- 整期出版日期: 2024-01-31

Integrated control method for quadrotors’ aggressive trajectory tracking under multiple constraints

School of Automation Science and Electrical Engineering，Beihang University，Beijing 100191，China

More Information

Corresponding author: E-mail：jzhao@buaa.edu.cn

摘要

摘要:
四旋翼无人机高动态飞行需求的增加使其成为一个越来越热门的研究主题。针对四旋翼执行废墟裂缝和树林缝隙穿越任务时的大机动轨迹状态跟踪控制问题，提出基于模型预测控制的一体化控制方法，包含多约束条件下的高机动轨迹规划和多参考状态量的一体化跟踪控制，并通过飞行试验验证了所提方法相比前馈PID控制方法在跟踪规划的高机动轨迹时的优越性能。在飞行试验中，四旋翼成功穿越了60°滚转角的窄框，其实际滚转角达到60°大角度的同时，z轴误差仅为0.065 m。
- 多约束 /
- 一体化控制 /
- 模型预测控制 /
- 轨迹跟踪 /
- 轨迹规划
Abstract:
The increasing demand for high-dynamic flight of quadrotors has made it an increasingly popular research topic. In order to solve the state tracking control problem of aggressive trajectories when quadrotors undertake activities such as navigating the cracks in the ruins and the gaps in the forest, this work develops an integrated control strategy based on model predictive control. This technique incorporates integrated tracking control of numerous reference states as well as aggressive trajectory planning under multiple limitations. Flight tests have verified the superior performance of the proposed control method in this paper compared with the feed-forward PID control method in tracking the planned aggressive trajectories. In-flight tests, quadrotors successfully crossed the narrow gap of 60° roll angle, and their actual roll angle reached a large angle of 60°, while the z-axis error is only 0.065 m.
- multiple constraints /
- integrated control /
- model predictive control /
- trajectory tracking /
- trajectory planning

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图 1 本文方法的结构

Figure 1. Structure of proposed method

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图 2 廊道约束物理定义

Figure 2. Physical definition of corridor constraints

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图 3 四旋翼无人机坐标系与系统模型

Figure 3. Coordinate systems and system model of quadrotor UAVs

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图 4 基于线性二次调节的反馈控制状态跟踪

Figure 4. Feedback control state tracking based on linear quadratic regulation

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图 5 基于非线性模型预测控制的前馈控制状态跟踪

Figure 5. Feed-forward control state tracking based on nonlinear model predictive control

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图 6 LQR与NMPC的控制时间轴比较

Figure 6. Control timeline comparison between LQR and NMPC

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图 7 本文方法的总体控制框架

Figure 7. Overall control framework of proposed method

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图 8 四旋翼无人机验证平台

Figure 8. Quadcopter UAV verification platform

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图 9 穿越60°滚转角窄框时各坐标轴的位置量及各阶导数曲线

Figure 9. Three-axis positions and derivative curves when crossing 60° roll narrow gap

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图 10 穿越60°滚转角窄框的轨迹及关键点

Figure 10. Trajectory and key points when crossing 60° roll narrow gap

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图 11 穿越60°滚转角窄框时各轴的期望位置和实际位置曲线

Figure 11. Three-axis expected and actual positions when crossing 60° roll narrow gap

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图 12 穿越60°滚转角窄框时各坐标轴实际位置和实际滚转角

Figure 12. Three-axis actual positions and actual roll angle when crossing 60° roll narrow gap

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图 13 四旋翼穿越60 °滚转角窄框的连续过程

Figure 13. Continuous process of a quadrotor crossing 60 ° roll narrow gap

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表 1 四旋翼无人机参数

Table 1. Quadcopter UAV parameters

型号	轴距/mm	电机型号	桨叶型号	总质量/kg
F330	330	TMOTOR F80 Pro	5055三叶桨	1.2

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表 2 60°滚转角穿框轨迹规划的约束设置

Table 2. Constraint settings of frame trajectory planning when crossing a 60° roll angle gap

初始点位置量/m	终止点位置量/m	穿越滚转角/（°）	穿越点速度/（m·s⁻¹）	穿越点位置量/m	穿越点加速度量/（m·s⁻²）	穿越前缓冲点 z轴位置/m	穿越后缓冲点 z轴位置/m	轨迹段数	轨迹段时间分配/s
（0,0,1）	330	60	（2.5,0,0）	（3,1,1.5）	（0,−8.3138,−5）	1.2	1.2	4	4.3,0.7,0.7,4.3

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表 3 本文方法主要参数

Table 3. Main parameters of proposed method

位置量权值向量	速度量权值向量	俯仰角权值系数	滚转角权值系数	期望俯仰角权值系数	期望滚转角权值系数	前馈控制项权值系数	反馈控制项权值系数	控制频率/Hz
[300,500,300]	[30,50,20]	50	300	20	100	0.4	0.65	100

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表 4 不同滚转角穿框轨迹下前馈PID控制方法和本文方法的实际穿越点对比

Table 4. Comparison of actual crossing points between feed-forward PID control method and proposed method under trajectories with different roll angles

方法	期望滚转角/(°)	实际角度/(°)	x轴误差/m	y轴误差/m	z轴误差/m
前馈PID 控制方法	30	28.32	0.767	0.038	0.210
	40	33.68	0.647	0.107	0.231
	60	53.63	0.726	0.499	0.373
本文方法	30	31.31	0.229	0.015	0.007
	40	40.46	0.223	0.125	0.076
	60	59.55	0.115	0.373	0.065

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