Unmanned aerial vehicle attitude control system and method based on self-adaption complementation fusion

A technology for controlling system and aircraft attitude, applied in attitude control and other directions, can solve the problems of aircraft and its control system design difficulties, sensor control performance impact, complex state and other problems

Active Publication Date: 2015-09-16
西安汇智信息科技有限公司
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Problems solved by technology

Coupled with the complex state during the flight, the aircraft itself is subject to various physical effects and external environmental disturbances such as airflow, such as elastic deformation of the

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  • Unmanned aerial vehicle attitude control system and method based on self-adaption complementation fusion

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Embodiment Construction

[0050] Below in conjunction with accompanying drawing, the present invention is described in further detail:

[0051] see Figure 1 to Figure 4 , a UAV attitude control system based on adaptive complementary fusion, including a motor and a motor driver connected thereto, the control signal input end of the motor driver is connected to a parallel first controller and a second controller;

[0052]The signal input end of the first controller is connected to the signal output end of the self-complementary adaptive filter, and the input end of the complementary adaptive filter is respectively connected to the first low-pass filter and the quaternion differential equation module. The input end of a low-pass filter is connected to the signal output end of the accelerometer, and the signal input end of the quaternion differential equation module is connected to the signal output end of the gyroscope;

[0053] The signal input end of the second controller is connected to the signal ou...

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Abstract

The invention discloses an unmanned aerial vehicle attitude control system and method based on self-adaption complementation fusion. The method is characterized by, to begin with, reading sensor data and carrying out corresponding filtering on the data; then, carrying out self-adaption complementation fusion according to frequency-domain characteristics of different sensors to obtain aerial attitude information of a current aerial vehicle, and furthermore, obtaining an Euler angle needed by control; next, carrying mathematical modeling on the aerial vehicle and designing two controllers, wherein one controller is used for controlling the pitch angle and the roll angle, and the other controller is used for controlling the course angle; and finally, carrying out superposition on the outputs of the two controller to obtain a total output, and realizing stable control of the aerial vehicle by changing the rotation speed of a motor through a driver. The system and method realize attitude wide-range high-precision calculation, quicker data convergence and higher precision.

Description

technical field [0001] The invention belongs to the technical fields of aircraft control, information processing and navigation, and in particular relates to a UAV attitude control system and method based on adaptive complementary fusion. Background technique [0002] Common UAVs can be divided into fixed-wing UAVs and rotary-wing UAVs according to their structure. Compared with fixed-wing UAVs, rotary-wing UAVs have the characteristics of being able to fly backwards, take off and land vertically, and hover. There are few requirements on the conditions of take-off and landing sites, the control is very flexible, and it can meet a variety of purposes, so the rotor UAV has greater research value. Compared with ordinary rotorcraft, quadrotor aircraft has the advantages of simple structure, low failure rate, flexible control, and greater lift per unit volume. It is very suitable for performing tasks in a small space and has a wide range of application prospects. [0003] Howeve...

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Application Information

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IPC IPC(8): G05D1/08
Inventor 黄鹤孟庆彬王萍郭璐张懿璞李杰黄莺易盟雷旭李艳波王会峰陈志强
Owner 西安汇智信息科技有限公司
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