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Flight control method of QUAV (Quadrotor Unmanned Aerial Vehicle)

A technology for quadrotors and unmanned aerial vehicles, which is applied in the field of unmanned aerial vehicles, can solve the problems of PID control not being able to adapt to modulation, etc., so as to avoid overly complicated programs, reduce processor load, improve anti-interference ability and robustness. Effect

Inactive Publication Date: 2017-02-22
GUANGXI NORMAL UNIV
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Problems solved by technology

[0004] In order to solve the problem that PID control cannot be adaptively modulated according to changes in the external environment of the aircraft, it is necessary to carry out adaptive adjustments to the PID control parameters to realize automatic adjustment of the aircraft. The present invention then introduces the EACS (Elitist Ant Colony System) algorithm to Optimizing PID control parameters

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  • Flight control method of QUAV (Quadrotor Unmanned Aerial Vehicle)
  • Flight control method of QUAV (Quadrotor Unmanned Aerial Vehicle)
  • Flight control method of QUAV (Quadrotor Unmanned Aerial Vehicle)

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[0082] In order to understand the above-mentioned purpose, 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, in the case of no conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.

[0083] 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 than described here. Therefore, the protection scope of the present invention is not limited by the specific implementation disclosed below. Example limitations.

[0084] Refer below Figure 1-2 The quadrotor unmanned aerial vehicle of the embodiment of the present invention is further described.

[0085] Such as figure 1 and figure 2 As shown, the quadrotor UAV 10...

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Abstract

The invention provides a flight control method of a QUAV. The method comprises the following steps that S10) a dynamical model and a dynamic equation of the QUAV are established; and S20) a compound control based control manner is designed to control four independent control channels converted from the dynamic equation in the step S10), control manners for the four channels include height PID, tumbling ADRC, pitching ADRC and yaw EACS-PID respectively, and conversion of control quantities is controlled to adjust the rotating speed of the four rotors and further achieve attitude control. Via the method of the invention, the QUAV adapts to the external environment change, yaw EACS-PID can realize adaptive adjustment of control parameters, tumbling ADRC and pitching ADRC can resist to interference more actively, height PID can be used to maintain high anti-interference capability and robustness and avoid the process from being too complex, the processor load of the QUAV is reduced, and the operation efficiency of hardware is improved.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a flight control method of a quadrotor unmanned aerial vehicle. Background technique [0002] Quadrotor Unmanned Aerial Vehicle (QUAV) 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 4 brushless The differential torque generated by the DC motor drive realizes its pitching motion and rolling motion, and the anti-torque torque generated realizes the yaw motion, which is a nonlinear underactuated system. This type of aircraft is widely used in military and civilian fields. Compared with fixed-wing unmanned aerial vehicles, quadrotor unmanned aerial vehicles have lower requirements for takeoff and landing due to their vertical take-off and landing, high flexibility, and stronger adaptability in complex terrain. At present, the most used co...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 钟海鑫罗晓曙赵帅
Owner GUANGXI NORMAL UNIV
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