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XU Jiachang, HUANG Yourui, LI Hongjin, et al. Attitude control of mine inspection unmanned helicopter based on cellular membrane computing[J]. Industry and Mine Automation, 2021, 47(11): 40-44. doi: 10.13272/j.issn.1671-251x.17846
Citation: XU Jiachang, HUANG Yourui, LI Hongjin, et al. Attitude control of mine inspection unmanned helicopter based on cellular membrane computing[J]. Industry and Mine Automation, 2021, 47(11): 40-44. doi: 10.13272/j.issn.1671-251x.17846
shu

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

doi: 10.13272/j.issn.1671-251x.17846

  • 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

  • Received Date: 2021-09-08
  • Rev Recd Date: 2021-11-12
  • Publish Date: 2021-11-20
    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.

     

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