Quad-rotor unmanned aerial vehicle and control method thereof

An unmanned aerial vehicle and quad-rotor technology, applied in the field of unmanned aerial vehicles, can solve the problems of difficulty in reaching the target, affecting the control effect, difficult controller parameters, etc.

Inactive Publication Date: 2017-02-15
GUANGXI NORMAL UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, during the flight of the quadrotor unmanned aerial vehicle, it is difficult to automatically adjust the parameters in

Method used

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  • Quad-rotor unmanned aerial vehicle and control method thereof
  • Quad-rotor unmanned aerial vehicle and control method thereof
  • Quad-rotor unmanned aerial vehicle and control method thereof

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Embodiment Construction

[0077] In order to be able to understand the above objectives, features and advantages of the present invention more clearly, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the application and the features in the embodiments can be combined with each other if there is no conflict.

[0078] In the following description, many specific details are set forth in order to fully understand the present invention. However, the present invention can also be implemented in other ways different from those described here. Therefore, the scope of protection of the present invention is not subject to the specific implementations disclosed below. Limitations of cases.

[0079] Refer below Figure 1-2 The four-rotor unmanned aerial vehicle of the embodiment of the present invention will be further described.

[0080] Such as figure 1 with figure 2 As shown, the four-...

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Abstract

The invention provides a quad-rotor unmanned aerial vehicle and a control method thereof. The quad-rotor unmanned aerial vehicle comprises a body and a main controller module and further comprises a navigation module, a sensor module, a communication module and a motor control module which are respectively connected with the main controller module, wherein the main controller module is used for comprehensively calculating the real-time flight attitude information fed back by the sensor module and the navigation module and the control information of the communication module and then outputting a motor control signal to control the motor control module. The quad-rotor unmanned aerial vehicle is advantaged in that automatic adaptation to change of the external environment can be realized to modulate flight parameters to realize the pre-determined control effect. According to the control method, the main controller module employs a control scheme combining a back-propagation artificial neural network with inertia term (BPNNI) neural network and based on weight adjustment with proportional integral derivative (PID) control to calculate an actual output control variable.

Description

Technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a four-rotor unmanned aerial vehicle and a control method thereof. Background technique [0002] The quadrotor unmanned aerial vehicle is an unmanned aerial vehicle that realizes autonomous flight through wireless remote control equipment and its own sensors. It has 6 degrees of freedom, 4 control inputs, and a differential torque generated by 4 brushless DC motors. It realizes its pitching and rolling motions, and the generated anti-torque torque realizes yaw motion, which is a nonlinear under-driven system. This type of aircraft is widely used in military and civilian fields. Compared with fixed-wing unmanned aerial vehicles, four-rotor unmanned aerial vehicles have lower take-off and landing requirements, high flexibility, and stronger adaptability in complex terrain because they can take off and land vertically. At present, the most used control method is PID co...

Claims

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 钟海鑫罗晓曙赵帅
Owner GUANGXI NORMAL UNIV
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