Attitude control of mine inspection unmanned helicopter based on cellular membrane computing
-
摘要: 煤矿巡检无人直升机姿态有效控制是巡检能力优劣的重要体现。针对现有无人直升机姿态控制伴随应用场景的变化，扰动随之变化，导致无人直升机姿态波动幅度及误差变大的问题，利用细胞型膜计算实现煤矿巡检无人直升机的姿态控制。根据无人直升机动力学模型建立了无人直升机姿态动力学模型；构建了适合井下无人直升机姿态模型的细胞型膜系统，设计了无人直升机姿态膜控制器(MC)。通过地面上空与模拟巷道飞行实验验证MC对无人直升机姿态的控制效果，并与传统滑模控制器(TSC)和线性反馈控制器(LFC)进行了比较，结果表明：地面上空实验环境下，MC下的无人直升机姿态角控制在-0.8～0.8 rad，姿态角振荡幅度小于TSC和LFC下的姿态角振荡幅度；模拟巷道环境下，MC下的无人直升机姿态角控制在-1.8～2.0 rad，波动频率变小；MC下的无人直升机姿态角误差均小于TSC和LFC下的姿态角误差。Abstract: The effective attitude control of mine inspection unmanned helicopter is an important manifestation of the pros and cons of inspection capabilities.The existing unmanned helicopter attitude control changes along with the application scene, and the perturbation changes with it, resulting in the unmanned helicopter attitude fluctuation amplitude and error become larger.In order to solve the above problems, the cellular membrane computing is used to realize the attitude control of mine inspection unmanned helicopter.According an underground unmanned helicopter dynamics model, the unmanned helicopter attitude dynamics model is constructed.The cellular membrane system suitable for the underground unmanned helicopter attitude model is constructed, and the unmanned helicopter attitude membrane controller(MC)is designed.Through flight experiments over the ground and in simulated roadway, the effect of MC on the attitude control of unmanned helicopters is verified.And compared with traditional sliding mode controller(TSC)and linear feedback controller(LFC), the results are listed as follows.In the experimental environment over the ground, the attitude angle of the unmanned helicopter under MC is controlled at-0.8-0.8 rad, and the attitude fluctuation amplitude is less than that of the TSC and the LFC.In the simulated roadway environment, the attitude angle of the unmanned helicopter under MC is controlled at-1.8-2.0 rad, and the fluctuation amplitude becomes smaller.The attitude angle errors of unmanned helicopter under MC are smaller than those of TSC and LFC.
-
-
[1] 石晓荣.煤矿工作面智能化监控系统的设计应用[J].机械研究与应用,2021,34(5):195-197. SHI Xiaorong.Design and application of intelligent monitoring system in coal mine face[J].Mechanical Research & Application,2021,34(5):195-197.
[2] 柴智.四旋翼无人机姿态控制研究[D].太原:中北大学,2020. CHAI Zhi.Research on attitude control of quadcopter UAV[D].Taiyuan:North University of China,2020.
[3] 杨寒石,张楚晗.旋翼无人机位姿控制与自主返航技术[J].设备管理与维修,2020(9):137-139. YANG Hanshi,ZHANG Chuhan.Pose control and autonomous return technology of rotorcraft UAV[J].Plant Maintenance Engineering,2020(9):137-139.
[4] LIU Hao,LU Geng,ZHONG Yisheng,et al.Robust LQR attitude control of a 3-DOF laboratory helicopter for aggressive maneuvers[J].IEEE Transactions on Industrial Electronics,2013,60(10):4627-4636.
[5] SUN Xiuyun,FANG Yongchun,SUN Ning.Backstepping-based adaptive attitude and height control of a small-scale unmanned helicopter[J].Control Theory & Applications,2012,29(3):381-388.
[6] NODLAND D,ZARGARZADEH H,JAGANNATHAN S.Neural network-based optimal adaptive output feedback control of a helicopter UAV[J].IEEE Transactions on Neural Networks and Learning Systems,2013,24(7):1061-1073.
[7] AHMED B,POTA H R.Flight control of a rotary wing UAV using adaptive backstepping[C]//IEEE International Conference on Control and Automation,Christchurch,2009:1780-1785.
[8] DIAO Chen,XIAN Bin,YIN Qiang,et al.A nonlinear adaptive control approach for quadrotor UAVs[C]//Asian Control Conference(ASCC),Kaohsiung,2011:223-228.
[9] LIMNAIOS G,TSOURVELOUDIS N.Fuzzy logic controller for a mini coaxial indoor helicopter[J].Kluwer Academic Publishers,2012,65(1-4):187-201.
[10] LEE D J,BANG H.Reinforcement learning based neuro-control systems for an unmanned helicopter[C]//ICCAS,Gyeonggi-do,2010:2537-2540.
[11] 田栢苓,李品品,鲁瀚辰,等.复杂环境下多无人机轨迹姿态协同控制[J].航空学报,2020,41(增刊2):36-43. TIAN Bailing,LI Pinpin,LU Hanchen,et al.Trajectory and attitude coordinated control of multiple unmanned aerial vehicles(UAVs)in complex environments[J].Acta Aeronautica Sinica,2020,41(S2):36-43.
[12] PAUN G.Computing with membranes[J].Journal of Computer and System Sciences,2000,61(1):108-143.
[13] XU Jiachang,HUANG Yourui,LIU Yu.Attitude optimization control of unmanned helicopter in coal mine using membrane computing[J].Mathematical Problems in Engineering,2020(1):1-11.
[14] PAUN G,PAUN R.Membrane computing and economics:numerical P systems[J].Fundamenta Informaticae,2006,73(1/2):213-227.
[15] XU Jiachang,HUANG Yourui,ZHAO Ruijuan,et al.Attitude control of an unmanned patrol helicopter based on an optimised spiking neural membrane system for use in coal mines[J].International Journal of Computational Science and Engineering,2021,24(5):538-549.
计量
- 文章访问数: 83
- HTML全文浏览量: 30
- PDF下载量: 25
下载:
