Tri-rotor attitude control method based on auto-disturbance rejection controller

A technology of active disturbance rejection control and attitude control, which is applied in the direction of adaptive control, general control system, control/regulation system, etc., and can solve the problems of time-sensitive control and control not being particularly good

Active Publication Date: 2015-09-09
BEIJING UNIV OF TECH
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Problems solved by technology

However, the research on the control method of multi-rotor aircraft with asymmetric structure is still in its infancy, and the PID control method is still widely used in engineering. The PID control method has the advantages of simple parameters, good time

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  • Tri-rotor attitude control method based on auto-disturbance rejection controller
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  • Tri-rotor attitude control method based on auto-disturbance rejection controller

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Embodiment Construction

[0036] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0037] image 3It is the mechanical structure diagram of the three-rotor model, the radius of the circumscribed circle of the three-rotor is about 17cm, and the mass is about 2.0kg; the mechanical structure of the three-rotor model includes the propeller (1), the motor (2), the fuselage (3), the cover ( 4), inertial navigation module (5), core board (6), battery (7), battery rack (8), bracket (9); propeller (1) is connected with motor (2); motor (2) is installed on the machine on the body (3); the propeller (1) and the motor (2) form a group of rotors, and the three rotor centers arranged on the fuselage (3) and the center line of the fuselage (3) respectively form 120 degrees; the battery ( 7) Installed on the bottom of the fuselage (3); the inertial navigation module (5) is installed on the top of the fuselage (3); the core board (6) is inst...

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Abstract

A tri-rotor attitude control method based on an auto-disturbance rejection controller (ADRC) includes determining a mathematic model of a tri-rotor aircraft, determining input-output variables suitable for the model, tracking differentiator design, building an expansion state observer, and selecting a non-linear error feedback rate. A core control panel based on Atmega 2560 serves as an execution module, the motor is powered through a drive circuit, and the PWM wave can be adjusted according to the rotating speed of the motor. An inertial navigation module is formed by a tri-shaft gyroscope sensor, an accelerometer, a GPS and a digital compass, and a power supply module provides appropriate voltage to power each module through a power distribution module. For a tri-rotor aircraft model, parameters of all modules are adjusted to achieve excellent effects for auto-disturbance rejection control method. Module design and parameter adjustment of all modules allow three rotors to retain an excellent flying state through an auto-disturbance rejection control system.

Description

technical field [0001] The invention relates to a method for controlling the attitude of a three-rotor aircraft, in particular to a method for controlling the attitude of a three-rotor model based on an active disturbance rejection control technology. Background technique [0002] In the attitude control of multi-rotor aircraft, the selection and design of attitude control methods undoubtedly play a central role, and the control effect of the control method directly affects the accuracy of attitude control. However, due to the inaccuracy, redundancy and engineering scope of the control algorithm, the multi-rotor aircraft cannot achieve the ideal state in each attitude of high-altitude flight, which will have a negative impact on autonomous navigation and positioning. Therefore, how to design a suitable control method in the attitude control of the rotorcraft becomes a crucial step in the attitude control of the rotorcraft. At present, there are mainly the following control ...

Claims

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Application Information

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IPC IPC(8): G05B13/04G05D1/10
Inventor 阮晓钢张晓锐
Owner BEIJING UNIV OF TECH
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