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An Anti-jamming Quadrotor UAV Attitude Control Method

A control method and unmanned aerial vehicle technology, applied in the direction of attitude control, control/regulation system, non-electric variable control, etc., can solve problems such as model uncertain quadrotor unmanned aerial vehicles

Active Publication Date: 2020-10-27
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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  • An Anti-jamming Quadrotor UAV Attitude Control Method
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  • An Anti-jamming Quadrotor UAV Attitude Control Method

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Embodiment Construction

[0060] The present invention will now be further described in conjunction with the embodiments and drawings:

[0061] Reference Figure 1-2 , An anti-jamming quad-rotor UAV attitude control method, the specific implementation steps are as follows:

[0062] Step 1: Establish the UAV attitude motion equation as shown in formula (1):

[0063]

[0064] In the formula, p is the pitch velocity of the UAV; Is the pitch angular acceleration of the drone; q is the roll angular velocity of the drone; Is the roll angular acceleration of the UAV; r is the roll angular velocity of the UAV; Is the roll angular acceleration of the UAV; I x , I y , I z Respectively are the moments of inertia of the drone on the x, y, and z axes; τ x , Τ y , Τ z Are the moments of the UAV on the x, y, and z axes;

[0065] The moment of inertia of a certain type of quadrotor is: I x =0.039kgm 2 , I y =0.039kgm 2 , I z =0.078kgm 2

[0066] Step 2: Transform formula (1) into the integral chain model form of formula (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 anti-interference quadrotor drone attitude control method, which realizes good attitude control for the quadrotor drone with strong interference, unmodeled parts and coupled nonlinear terms. Background technique [0002] In recent years, rotary-wing drones have become one of the research hotspots of leading scholars at home and abroad. [0003] Typical rotary-wing UAVs are widely used in the model aircraft industry, aerial photography, electric security, marine monitoring, urban fire protection, agricultural and forestry operations, forest fire protection, etc. due to their small size, strong maneuverability, simple design, and low manufacturing cost. Civil and military fields have extremely broad application prospects. Quadrotor UAV is a complex system with nonlinearity, underdrive, strong coupling, and static instability. It is difficult to achieve efficient and stable con...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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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