Quad-rotor unmanned aerial vehicle and control method thereof

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...

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 the controller to adapt to external changes, so it is difficult to achieve the predetermined goal and affect the control effect

Images