Universal flight control and adaptive cascade ADRC control algorithm
Universal flight control and adaptive cascade ADRC control algorithm
- New search for: LI XICAI
- New search for: XIANG YANG
- New search for: WANG YUANQING
- New search for: LI XICAI
- New search for: XIANG YANG
- New search for: WANG YUANQING
The invention discloses a universal flight controller and an adaptive cascade ADRC control algorithm. The universal flight controller comprises a position sensing unit, an attitude sensing unit, a core processor and a coprocessor. The position sensing unit and the attitude sensing unit are used for acquiring flight pose information of the aircraft and transmitting the flight pose information to the core processor through a bus for attitude calculation, so that the pose information is provided for the aircraft. And the pose information is transmitted to the coprocessor, and the aircraft is comprehensively controlled based on a self-adaptive ADRC control algorithm so as to reach an expected state. In addition, according to the adaptive cascade ADRC control algorithm disclosed by the invention, online parameter integration is carried out on the controller by adopting a BP neural network, so that a complicated parameter adjustment process in a traditional flight control system is overcome. Meanwhile, the flight control system disclosed by the invention has good universality and can support various carriers. According to the universal flight control system, due to the fact that the core processor and the co-processing architecture are adopted, the robustness of the system is greatly improved, and production iteration and maintenance are facilitated.
本申请公布了一种通用型飞控及自适应串级ADRC控制算法，其中通用型飞控包括位置传感单元、姿态传感单元、核心处理器和协处理器。位置传感单元和姿态传感单元用于获取飞行器的飞行位姿信息，并通过总线传输至核心处理器进行姿态解算，从而为飞行器提供位姿信息。位姿信息传输至协处理器并基于自适应ADRC控制算法对飞行器进行综合控制，以达到期望状态。此外，本申请所公开的自适应串级ADRC控制算法采用BP神经网络对该控制器实施在线参数整合，从而克服了传统飞控系统中复杂的调参流程。同时本发明所公开的飞控具有良好通用性，可支持多种载具。本申请一种通用型飞控由于采用了核心处理器与协处理架构，大幅提高了系统的鲁棒性，便于生产迭代与维护。
Document information
Universal flight control and adaptive cascade ADRC control algorithm
一种通用型飞控及自适应串级ADRC控制算法
2023-12-08
Patent
Electronic Resource
Chinese
Similar titles
Flight Simulator Table Servo Control Based on ADRC Strategy
| Tema Archive | 2010
ADRC BASED HIGH MANEUVERING FLIGHT CONTROL LAW DESIGN FOR UAV
| British Library Conference Proceedings | 2021
Adaptive control of missile attitude based on BP–ADRC
| Emerald Group Publishing | 2020
An ADRC Attitude Control Algorithm of Quadrotor for Wind Interference
| Springer Verlag | 2023