A three-rotor attitude control method based on active disturbance rejection control

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., can solve the problems of time-sensitive control and control not being particularly good, and achieve improved autonomy and good tracking signals , good anti-interference effect

Active Publication Date: 2017-09-22
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 timeliness, and obvious control effect. However, For nonlinear models, the PID control method also has its limitations, and it does not have a particularly good effect on the control of small angle time-sensitive control and some random external disturbances.

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  • A three-rotor attitude control method based on active disturbance rejection control
  • A three-rotor attitude control method based on active disturbance rejection control
  • A three-rotor attitude control method based on active disturbance rejection control

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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 three-rotor attitude control method based on active disturbance rejection control, the method includes determining the mathematical model of the three-rotor aircraft; determining the appropriate input and output variables of the model; the design of the tracking differentiator, the establishment of the extended state observer, and nonlinear error feedback rate selection. The present invention adopts the core control board based on Atmega2560 as the executive module to supply power to the motor through the drive circuit, and the motor speed can be adjusted through the PWM wave; ; and the power supply module provides appropriate voltage for each module through the power distribution module for power supply. For the three-rotor aircraft model, the ADRC control method has a good effect by adjusting the parameters of each module. The invention uses an active disturbance rejection control system, and through the design of each module and the adjustment of its parameters, the trirotor can maintain a good flying state in the air.

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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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04G05D1/10
Inventor 阮晓钢张晓锐
Owner BEIJING UNIV OF TECH
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