Method for balancing lateral force and suppressing lateral reverse thrust of unmanned aerial vehicle

Abstract

The invention relates to a method for balancing lateral force and suppressing lateral reverse thrust of an unmanned aerial vehicle, and belongs to the field of unmanned aerial vehicle control. The invention aims to reduce the influence of possible lateral force on the flight attitude and position of an unmanned aerial vehicle when the unmanned aerial vehicle has a lateral operation function. The method includes the following steps: 1, establishing a space and motion model of a system, and determining a strong coupling characteristic of the system; 2, decoupling the motion of the space model ofthe system; 3, setting disturbance observer to fuse into a position control system; 4, selecting a reduced-order state observer to feed back a gain to improve a response effect of the disturbance observer to disturbance suppression; and 5, performing simulation verification. According to the method provided by the invention, the space and motion model of the system is established, the coupling characteristics of the system is analyzed, and decoupling control of the system is performed in a state feedback mode, and a disturbance observer model of the system is established, and is fused into the position control system in a feedforward compensation mode, thereby improving an effect of resisting external sudden change interference.

Description

technical field [0001] The invention belongs to the field of unmanned aerial vehicle control, in particular to a method for balancing lateral forces and suppressing the lateral reverse thrust of an unmanned aerial vehicle. Background technique [0002] In the application of multi-rotor drones, the force point of most applications is located below the drone. In this mode, the drone only needs to balance the center of gravity on the structure, and its flight attitude is less affected by it. . However, in some emerging specific applications, as an airborne platform, the UAV requires its stress point to be located on the side of the UAV, such as using a UAV for wall spray cleaning, long-distance shooting and throwing, etc. In this mode, the UAV will be subject to a lateral reaction force, which may be relatively constant, may also change abruptly, or may be continuously disturbed, which will have a greater impact on the UAV itself and affect the flight attitude of the UAV. , t...

AI Technical Summary

Problems solved by technology

Since the system is suspended in the space environment under the UAV airborne platform, it is easily affected by the sudden interference thrust or the change of space position, which makes it difficult for the system to maintain a stable working attitude in space and cannot maintain the system's desired position. Required Stability Requirements

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