Control method of four-axis unmanned aerial vehicle

Abstract

The invention discloses a control method of a four-axis unmanned aerial vehicle. The method includes the following steps that: S1, the attitude data of an attitude sensor in the four-axis unmanned aerial vehicle are acquired, and filtering and fusion are carried out on the attitude data, so that current attitude information can be obtained, wherein the attitude data include a current attitude angle and an angular velocity corresponding to the attitude angle; and S2, the four-axis unmanned aerial vehicle is controlled through a cascade double-loop PID control method, a deviation value between the current attitude information and target attitude information is adopted as the input quantity of an angle PID controller, the difference value of the current angular velocity and the output quantity of the angle PID controller is inputted into an angular velocity PID controller, and the output of the angular velocity PID controller is used for controlling a motor until the four-axis unmanned aerial vehicle achieves a target attitude. With the control method of the invention adopted, more accurate measurement data can be obtained, the accuracy of attitude data can be improved; the cascade double-loop PID control is adopted, so that the anti-interference performance of a system is enhanced; and therefore, the four-axis unmanned aerial vehicle has higher adaptability.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicle control, in particular to a control method for a four-axis unmanned aerial vehicle. Background technique [0002] Unmanned Aerial Vehicle (UAV), also referred to as UAV, is different from traditional manned aircraft. It is an unmanned aircraft controlled by radio remote control and onboard program controller. It first appeared in the 1920s and was only used as a target drone in military training. After nearly a hundred years of continuous development, it gradually turned to various multi-purpose fields such as reconnaissance and attack. Compared with manned aircraft, it has the advantages of low cost, strong survivability, no risk of casualties, and convenient use, so it can not only play an important role in the military, but also has broad application prospects in the civilian field. [0003] Classified according to the overall structure of UAVs, UAVs can be divided into three m...

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Problems solved by technology

[0005] However, the miniature four-axis UAV is small in size, light in weight, and low in flight speed, so its aerodynamic model is difficult to establish accurately. It is very easy to be affected by the airflow, so there are higher requirements for the control accuracy and flexibility of the flight controller

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