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Anti-interference attitude control method for four-rotor unmanned aerial vehicle

A control method and technology of aircraft attitude, applied in attitude control, non-electric variable control, control/regulation system, etc., can solve the problem of uncertain model of quadrotor UAV and so on

Active Publication Date: 2017-12-19
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

[0006] In order to avoid the deficiencies of the prior art, the present invention proposes an anti-interference quadrotor UAV attitude control method, aiming at the attitude control problem of the quadrotor UAV when the model is uncertain and there is external interference

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Embodiment Construction

[0059] Now in conjunction with embodiment, accompanying drawing, the present invention will be further described:

[0060] refer to Figure 1-2 , an attitude control method for an anti-jamming quadrotor UAV, the specific implementation steps are as follows:

[0061] Step 1: Establish the UAV attitude motion equation shown in formula (1):

[0062]

[0063] In the formula, p is the pitch angular velocity of the UAV; is the pitch angular acceleration of the UAV; q is the roll angular velocity of the UAV; is the rolling angular acceleration of the UAV; r is the rolling angular velocity of the UAV; is the rolling angular acceleration of the UAV; I x , I y , I z are the moments of inertia of the UAV on the x, y, and z axes, respectively; τ x , τ y , τ z are the moments of the drone on the x, y, and z axes, respectively;

[0064] The moment of inertia of a certain type of quadrotor aircraft is: I x =0.039kgm 2 , I y =0.039kgm 2 , I z =0.078kgm 2

[0065] Step 2...

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Abstract

Through designing a radial basis function neural network compensator to estimate coupling between channels, a model uncertainty part and external interference, a pole-placement method is used to determine a gain initial value of a fractional order proportional differential controller, the control performance is further improved by the fine adjustment of a fractional order differential order number, the flexibility of a system is enhanced, finally a feedback linearization controller is designed to obtain a control amount, and the stable attitude control with strong anti-interference for a four-rotor unmanned aerial vehicle is realized. The invention has the advantages that an unmodeled part of the system, the coupling effect between the channels and the external interference are considered, and the universality of an attitude control method is improved. Through designing a radial basis function neural network estimator to estimate the unmodeled part of the system, the coupling effect between the channels and the external interference for compensation, the system has good anti-interference ability. On the basis of traditional proportional differential control, fractional order differential is introduced to improve the control performance and flexibility of the system.

Description

technical field [0001] The invention belongs to the technical field of automatic control, and relates to an attitude control method of an anti-interference quadrotor UAV, which can realize good attitude control for the quadrotor UAV with strong interference, unmodeled parts and coupling nonlinear items. Background technique [0002] In recent years, the rotor UAV has become one of the research hotspots of frontier scholars at home and abroad. As a kind of [0003] The typical rotor UAV, with its advantages of small size, strong maneuverability, simple design, and low manufacturing cost, is widely used in the aircraft model industry, aerial photography, power security, marine monitoring, urban fire protection, agricultural and forestry operations, and forest fire prevention, etc. Civil and military fields, the application prospects are extremely broad. Quadrotor UAV is a complex system with characteristics of nonlinearity, underactuation, strong coupling and static instabili...

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Application Information

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IPC IPC(8): G05D1/08
CPCG05D1/0808
Inventor 王佩张科徐有新吕梅柏姜海旭王靖宇李伟
Owner NORTHWESTERN POLYTECHNICAL UNIV
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