Crowd-searching-algorithm-based active-disturbance-rejection control method for unmanned plane
A technology of active disturbance rejection control and crowd search, which is applied in the field of UAV active disturbance rejection control based on crowd search algorithm, can solve the difficulty of adjustment, and it is difficult to meet the control accuracy, stability and robustness of flight control performance and other problems to achieve the effects of reducing overshoot, improving fast convergence, and improving high robustness
Inactive Publication Date: 2017-05-17
GUANGXI NORMAL UNIV
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[0005] The existing technology is based on the linear ADRC control method. The control method is usually limited to angle and angular velocity control, and it is difficult to adjust the parameters of the ADRC controller. It is difficult to meet the flight control performance such as control accuracy, stability, Higher and higher requirements such as robustness
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[0053] The UAV control device designed by the present invention and its implementation will be described in detail below in conjunction with the accompanying drawings.
[0054] See figure 1 , The UAV control device is composed of three parts: the main control device, the sensor device and the control variable conversion device. The position and attitude data of the UAV are given by the sensor device, and the control value is obtained after being processed by the ADRC module, the ASO module and the flight control module in the main control device, and then converted by the control value conversion device to obtain the motor speed to achieve control of the UAV The purpose of stable flight.
[0055] The position information of the UAV is given by GPS and barometer, GPS gives relative coordinates (x, y), and barometer gives height information z. The attitude information is given by the IMU, the accelerometer outputs the component signals of the gravity on the three axes of the b...
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The invention relates to a crowd-searching-algorithm-based active-disturbance-rejection control method for an unmanned plane. The crowd-searching-algorithm-based active-disturbance-rejection control method for an unmanned plane is characterized in that the system is formed by a tracking differentiator (TD), non-linear state error feedback (NLSEF), an expansion state observer (ESO), a controlled object and an SOA parameter setting module. The crowd-searching-algorithm-based active-disturbance-rejection control method for an unmanned plane includes the following steps: 1) analyzing a kinetic model of an unmanned plane, and establishing an unmanned plane control channel transfer function; 2) according to a kinetic equation of the unmanned plane, designing an ADRC controller; and 3) depending on the ADRC controller and input and output of the unmanned plane control channel, combining with the SOA algorithm, establishing an SOA parameter on-line setting module, and realizing parameter self-adaptation of the ADRC controller. The technical scheme of the crowd-searching-algorithm-based active-disturbance-rejection control method for an unmanned plane enables the unmanned plane flight control system to have more intelligent and higher output accuracy and to be adaptive to various flight environments, and can improve the stability and reliability of the flight control system.
Description
technical field [0001] The invention relates to the application of a swarm intelligence optimization algorithm in the field of unmanned aerial vehicle active disturbance rejection control, in particular to a method for unmanned aerial vehicle automatic disturbance rejection control based on a crowd search algorithm. Background technique [0002] UAVs are the mainstream of modern intelligent robots. UAVs integrate sensors, flight controllers, remote control systems, and positioning systems. They are one of the hotspots in civil and military research in the world today. However, the UAV is simple in structure and complex in control, with six output channels and four input channels, highly coupled and non-linear, and because of its relatively light weight, it is susceptible to external force interference such as wind. The flight control system of the man-machine is an underactuated, strongly coupled, nonlinear system with various uncertain factors and nonlinear characteristics ...
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IPC IPC(8): G05D1/08
CPCG05D1/0825
Inventor 唐堂丘森辉罗晓曙阎晨阳
Owner GUANGXI NORMAL UNIV