A method for balancing lateral forces and suppressing lateral reverse thrust of UAVs

Abstract

The invention relates to a method for balancing lateral force and restraining the lateral reverse thrust of an unmanned aerial vehicle, belonging to the field of unmanned aerial vehicle control. The purpose is to reduce the influence of the possible lateral force on the flight attitude and position of the UAV when the UAV has the function of lateral operation. Step 1, establish the space and motion model of the system, and determine the strong coupling characteristics of the system; Step 2, decouple the motion of the system space model; Step 3, set the disturbance observer and integrate it into the position control system; Step 4, select The feedback gain of the reduced-order state observer improves the response effect of the disturbance observer to disturbance suppression; step five, conduct simulation verification. In the present invention, by establishing the space and motion model of the system, analyzing the coupling characteristics of the system, and decoupling the system through state feedback, establishing the disturbance observer model of the system, and integrating the feedforward compensation into the position control system, Improves the effect of resistance to external mutation 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

Images