交通控制系統(tǒng)下的四旋翼無人機(jī)控制及通信技術(shù)研究
發(fā)布時(shí)間：2019-01-10 16:38
【摘要】：我國(guó)道路交通網(wǎng)絡(luò)的飛速發(fā)展和大規(guī)模機(jī)動(dòng)車出行時(shí)空集中特征的日益突出,使得固定設(shè)備信息采集技術(shù)的缺點(diǎn)和不足更加顯現(xiàn),從而促進(jìn)以機(jī)動(dòng)靈活為特點(diǎn)的無人機(jī)信息采集技術(shù)在交通控制領(lǐng)域的研究和應(yīng)用。本文以交通控制系統(tǒng)中用于信息采集的四旋翼無人機(jī)為研究對(duì)象,設(shè)計(jì)了具有一定的魯棒能力的軌跡跟蹤控制器,實(shí)現(xiàn)無人機(jī)在外部干擾和特定類型故障下的有效跟蹤控制,保證信息采集的連續(xù)性和可靠性。此外,為實(shí)現(xiàn)任務(wù)數(shù)據(jù)和飛控?cái)?shù)據(jù)的傳遞,本文還對(duì)無人機(jī)的通信系統(tǒng)進(jìn)行有效設(shè)計(jì)。具體內(nèi)容如下:首先介紹本課題的研究背景、來源、目的及意義,系統(tǒng)地闡述了交通控制系統(tǒng)的發(fā)展歷史,介紹了當(dāng)下交通控制系統(tǒng)信息采集的方式以及四旋翼無人機(jī)在交通信息采集中的特點(diǎn)和作用,總結(jié)了四旋翼無人機(jī)軌跡跟蹤控制和通信技術(shù)的研究現(xiàn)狀并給出本文的主要工作內(nèi)容。然后,給出四旋翼無人機(jī)的動(dòng)力學(xué)模型和運(yùn)動(dòng)學(xué)模型,在模型中考慮了外界擾動(dòng)(陣風(fēng)等)對(duì)系統(tǒng)的影響,并將無人機(jī)動(dòng)態(tài)系統(tǒng)劃分為全驅(qū)動(dòng)子系統(tǒng)和欠驅(qū)動(dòng)子系統(tǒng)兩部分。利用反步控制和觀測(cè)器技術(shù)為四旋翼無人機(jī)設(shè)計(jì)了具有位置軌跡跟蹤能力的控制器,針對(duì)建模的外部干擾設(shè)計(jì)了非線性干擾觀測(cè)器以對(duì)其進(jìn)行有效估計(jì)并利用估計(jì)值對(duì)上述在控制設(shè)計(jì)進(jìn)行干擾補(bǔ)償。另外,還特別針對(duì)執(zhí)行器失效故障進(jìn)行了控制器的容錯(cuò)設(shè)計(jì),實(shí)現(xiàn)了干擾/故障下對(duì)四旋翼無人機(jī)的有效控制。仿真結(jié)果表明,所設(shè)計(jì)的魯棒容錯(cuò)控制算法可以有效實(shí)現(xiàn)干擾/執(zhí)行器故障下的跟蹤控制。之后,提出了基于四旋翼無人機(jī)非線性模型的分層反步滑�？刂破�。在設(shè)計(jì)分層反步滑模控制器時(shí),首先依次為外環(huán)位置軌跡的跟蹤控制設(shè)計(jì)滑模面和虛擬控制量,直至得到能夠保證外層位置軌跡跟蹤的姿態(tài)角期望值;然后為內(nèi)層姿態(tài)角子系統(tǒng)設(shè)計(jì)了常速趨近的滑�？刂坡�,保證姿態(tài)角能夠快速跟蹤姿態(tài)角期望值。仿真結(jié)果表明所設(shè)計(jì)的分層反步滑模容錯(cuò)控制算法可以有效應(yīng)對(duì)模型不確定和外界擾動(dòng),實(shí)現(xiàn)干擾環(huán)境下四旋翼無人機(jī)的魯棒跟蹤控制。最后,對(duì)交通控制系統(tǒng)下的四旋翼無人機(jī)通信系統(tǒng)的框架進(jìn)行了頂層設(shè)計(jì),規(guī)劃了通信系統(tǒng)中各個(gè)組成部分的職能分工以及相互間的協(xié)調(diào)合作,并對(duì)通信數(shù)據(jù)的分類、編碼及封裝進(jìn)行了研究。此外,還對(duì)無人機(jī)通信系統(tǒng)的通信協(xié)議進(jìn)行了細(xì)致的設(shè)計(jì),規(guī)范了接收雙方的數(shù)據(jù)幀結(jié)構(gòu)和校驗(yàn)方式以及收發(fā)數(shù)據(jù)的流程,并利用第三方提供的通用類實(shí)現(xiàn)了計(jì)算機(jī)和無線設(shè)備之間的串口通信。
[Abstract]:With the rapid development of China's road traffic network and the increasingly prominent spatio-temporal characteristics of large-scale motor vehicle travel, the shortcomings and shortcomings of fixed equipment information collection technology are more apparent. Thus, the research and application of UAV information acquisition technology, which is characterized by maneuverability and flexibility, is promoted in the field of traffic control. Taking the four-rotor UAV used in traffic control system for information acquisition as the research object, a trajectory tracking controller with certain robustness is designed to realize the effective tracking control of the UAV under external disturbances and specific types of faults. Ensure the continuity and reliability of information collection. In addition, in order to transfer mission data and flight control data, the communication system of UAV is designed effectively. The specific contents are as follows: firstly, the research background, source, purpose and significance of this subject are introduced, and the development history of traffic control system is systematically described. This paper introduces the current information collection method of traffic control system and the characteristics and functions of four-rotor UAV in traffic information collection. The research status of trajectory tracking control and communication technology of four rotor UAV is summarized and the main work of this paper is given. Then, the dynamic model and kinematics model of the four-rotor UAV are presented. In the model, the effects of external disturbances (gusts, etc.) on the system are considered, and the dynamic system of the UAV is divided into two parts: the full drive subsystem and the underactuated subsystem. A position tracking controller is designed for a four-rotor UAV using backstepping control and observer techniques. A nonlinear disturbance observer is designed to estimate the external disturbance and compensate for the disturbance in the control design. In addition, a fault tolerant controller is designed for actuator failure fault, which realizes the effective control of four-rotor UAV under interference / fault. Simulation results show that the proposed robust fault-tolerant control algorithm can effectively realize tracking control under disturbance / actuator failure. Then, a hierarchical backstepping sliding mode controller based on the nonlinear model of a four-rotor UAV is proposed. In the design of layered backstepping sliding mode controller, the sliding mode surface and the virtual control quantity are designed for the tracking control of the outer loop position trajectory in turn, until the attitude angle expectation value which can guarantee the outer position trajectory tracking is obtained. Then a sliding mode control law of constant velocity approach is designed for the inner attitude corner system to ensure that the attitude angle can quickly track the attitude angle expectation. The simulation results show that the hierarchical sliding mode fault-tolerant control algorithm can effectively deal with model uncertainty and external disturbances, and achieve robust tracking control of four-rotor UAV in jamming environment. Finally, the framework of the four-rotor UAV communication system under the traffic control system is designed at the top level, and the function division of each component in the communication system and the coordination and cooperation among each other are planned, and the communication data are classified. Coding and encapsulation are studied. In addition, the communication protocol of UAV communication system is designed in detail, and the data frame structure and verification mode of both sides are standardized, as well as the data receiving and sending process. The serial communication between computer and wireless device is realized by using the general class provided by the third party.
【學(xué)位授予單位】：南京航空航天大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2016
【分類號(hào)】：V279;V249.1
本文編號(hào)：2406544
[Abstract]:With the rapid development of China's road traffic network and the increasingly prominent spatio-temporal characteristics of large-scale motor vehicle travel, the shortcomings and shortcomings of fixed equipment information collection technology are more apparent. Thus, the research and application of UAV information acquisition technology, which is characterized by maneuverability and flexibility, is promoted in the field of traffic control. Taking the four-rotor UAV used in traffic control system for information acquisition as the research object, a trajectory tracking controller with certain robustness is designed to realize the effective tracking control of the UAV under external disturbances and specific types of faults. Ensure the continuity and reliability of information collection. In addition, in order to transfer mission data and flight control data, the communication system of UAV is designed effectively. The specific contents are as follows: firstly, the research background, source, purpose and significance of this subject are introduced, and the development history of traffic control system is systematically described. This paper introduces the current information collection method of traffic control system and the characteristics and functions of four-rotor UAV in traffic information collection. The research status of trajectory tracking control and communication technology of four rotor UAV is summarized and the main work of this paper is given. Then, the dynamic model and kinematics model of the four-rotor UAV are presented. In the model, the effects of external disturbances (gusts, etc.) on the system are considered, and the dynamic system of the UAV is divided into two parts: the full drive subsystem and the underactuated subsystem. A position tracking controller is designed for a four-rotor UAV using backstepping control and observer techniques. A nonlinear disturbance observer is designed to estimate the external disturbance and compensate for the disturbance in the control design. In addition, a fault tolerant controller is designed for actuator failure fault, which realizes the effective control of four-rotor UAV under interference / fault. Simulation results show that the proposed robust fault-tolerant control algorithm can effectively realize tracking control under disturbance / actuator failure. Then, a hierarchical backstepping sliding mode controller based on the nonlinear model of a four-rotor UAV is proposed. In the design of layered backstepping sliding mode controller, the sliding mode surface and the virtual control quantity are designed for the tracking control of the outer loop position trajectory in turn, until the attitude angle expectation value which can guarantee the outer position trajectory tracking is obtained. Then a sliding mode control law of constant velocity approach is designed for the inner attitude corner system to ensure that the attitude angle can quickly track the attitude angle expectation. The simulation results show that the hierarchical sliding mode fault-tolerant control algorithm can effectively deal with model uncertainty and external disturbances, and achieve robust tracking control of four-rotor UAV in jamming environment. Finally, the framework of the four-rotor UAV communication system under the traffic control system is designed at the top level, and the function division of each component in the communication system and the coordination and cooperation among each other are planned, and the communication data are classified. Coding and encapsulation are studied. In addition, the communication protocol of UAV communication system is designed in detail, and the data frame structure and verification mode of both sides are standardized, as well as the data receiving and sending process. The serial communication between computer and wireless device is realized by using the general class provided by the third party.
【學(xué)位授予單位】：南京航空航天大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2016
【分類號(hào)】：V279;V249.1
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，本文編號(hào)：2406544
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