交通控制系统下的四旋翼无人机控制及通信技术研究

发布时间：2019-01-10 16:38

【摘要】：我国道路交通网络的飞速发展和大规模机动车出行时空集中特征的日益突出,使得固定设备信息采集技术的缺点和不足更加显现,从而促进以机动灵活为特点的无人机信息采集技术在交通控制领域的研究和应用。本文以交通控制系统中用于信息采集的四旋翼无人机为研究对象,设计了具有一定的鲁棒能力的轨迹跟踪控制器,实现无人机在外部干扰和特定类型故障下的有效跟踪控制,保证信息采集的连续性和可靠性。此外,为实现任务数据和飞控数据的传递,本文还对无人机的通信系统进行有效设计。具体内容如下:首先介绍本课题的研究背景、来源、目的及意义,系统地阐述了交通控制系统的发展历史,介绍了当下交通控制系统信息采集的方式以及四旋翼无人机在交通信息采集中的特点和作用,总结了四旋翼无人机轨迹跟踪控制和通信技术的研究现状并给出本文的主要工作内容。然后,给出四旋翼无人机的动力学模型和运动学模型,在模型中考虑了外界扰动(阵风等)对系统的影响,并将无人机动态系统划分为全驱动子系统和欠驱动子系统两部分。利用反步控制和观测器技术为四旋翼无人机设计了具有位置轨迹跟踪能力的控制器,针对建模的外部干扰设计了非线性干扰观测器以对其进行有效估计并利用估计值对上述在控制设计进行干扰补偿。另外,还特别针对执行器失效故障进行了控制器的容错设计,实现了干扰/故障下对四旋翼无人机的有效控制。仿真结果表明,所设计的鲁棒容错控制算法可以有效实现干扰/执行器故障下的跟踪控制。之后,提出了基于四旋翼无人机非线性模型的分层反步滑模控制器。在设计分层反步滑模控制器时,首先依次为外环位置轨迹的跟踪控制设计滑模面和虚拟控制量,直至得到能够保证外层位置轨迹跟踪的姿态角期望值;然后为内层姿态角子系统设计了常速趋近的滑模控制律,保证姿态角能够快速跟踪姿态角期望值。仿真结果表明所设计的分层反步滑模容错控制算法可以有效应对模型不确定和外界扰动,实现干扰环境下四旋翼无人机的鲁棒跟踪控制。最后,对交通控制系统下的四旋翼无人机通信系统的框架进行了顶层设计,规划了通信系统中各个组成部分的职能分工以及相互间的协调合作,并对通信数据的分类、编码及封装进行了研究。此外,还对无人机通信系统的通信协议进行了细致的设计,规范了接收双方的数据帧结构和校验方式以及收发数据的流程,并利用第三方提供的通用类实现了计算机和无线设备之间的串口通信。
[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.
【学位授予单位】：南京航空航天大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：V279;V249.1

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