基于细胞型膜计算的煤矿巡检无人直升机姿态控制

许家昌; 黄友锐; 李虹金; 刘瑜; 韩涛

doi:10.13272/j.issn.1671-251x.17846

基于细胞型膜计算的煤矿巡检无人直升机姿态控制

doi: 10.13272/j.issn.1671-251x.17846

1. 安徽理工大学计算机科学与工程学院, 安徽淮南 232001;
2. 安徽理工大学电气与信息工程学院, 安徽淮南 232001;
3. 大连理工大学生物医学工程学院, 辽宁大连 116000;
4. 安徽理工大学深部煤矿采动响应与灾害防控国家重点实验室, 安徽淮南 232001

基金项目:

国家自然科学基金面上项目（61772033）；深部煤矿采动响应与灾害防控国家重点实验室开放基金项目（SKLMRDPC20KF11）；安徽理工大学引进人才基金项目（2021yjrc44）；安徽省教育厅自然科学研究重点项目（KJ2019A0110）。

详细信息

作者简介:
许家昌(1979-),男,山东安丘人,博士研究生,研究方向为计算智能,优化控制,E-mail:jcxu@aust.edu.cn。

中图分类号: TD67
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- 被引次数: 0
出版历程
- 收稿日期: 2021-09-08
- 修回日期: 2021-11-12
- 刊出日期: 2021-11-20

Attitude control of mine inspection unmanned helicopter based on cellular membrane computing

1. School of Computer Science and Engineering, Anhui University of Science and Technology, Huainan 232001, China;
2. School of Electrical and Information Engineering, Anhui University of Science and Technology, Huainan 232001, China;
3. School of Biomedical Engineering, Dalian University of Technology, Dalian 116000, China;
4. State Key Laboratory of Mining Response and Disaster Prevention and Control in Deep Coal Mine, Anhui University of Science and Technology, Huainan 232001, China

摘要

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。
- 煤矿智能巡检 /
- 无人直升机 /
- 细胞型膜计算 /
- 姿态控制 /
- 姿态角 /
- 膜控制器
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.
- intelligent coal mine inspection /
- unmanned helicopter /
- cellular membrane computing /
- attitude control /
- attitude angle /
- membrane controllr

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参考文献(15)

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