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A precise position control method for quadrotor UAV based on minimum variance regulator

A quadrotor UAV, minimum variance technology, applied in vehicle position/route/altitude control, controllers with specific characteristics, electric controllers, etc., can solve problems such as large impact, and reduce the impact of position control accuracy , High-precision position control, the effect of improving the accuracy of position control

Active Publication Date: 2021-06-08
荷塘智能科技(固安)有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The system noise has a great influence on the position control accuracy when hovering. Therefore, a method for precise position control of quadrotor UAV based on the minimum variance regulator is proposed to solve the above problems.

Method used

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  • A precise position control method for quadrotor UAV based on minimum variance regulator
  • A precise position control method for quadrotor UAV based on minimum variance regulator
  • A precise position control method for quadrotor UAV based on minimum variance regulator

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0080] A small quadrotor with a wheelbase of 450mm and a take-off weight of 1.2kg was selected.

[0081] Position control PD controller design, quadrotor UAV structure such as figure 1 As shown, its attitude angle is usually represented by Z-Y-X Euler angles, named as yaw angle, pitch angle and roll angle respectively. The position control of the quadrotor in the Z direction uses the change of the lift force sum of the four propellers as the input quantity, the position in the X direction uses the pitch angle as the input quantity, and the position in the Y direction uses the roll angle as the input quantity.

[0082] Since the attitude angle is approximately proportional to the horizontal acceleration at small angles, the transfer function from the pitch (roll) angle to the position in the X (Y) direction can be approximated as a second-order integral link. The lift force of the motor is proportional to the vertical acceleration, so the second-order integral link can be used...

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Abstract

The invention discloses a method for precise position control of a quadrotor UAV based on a minimum variance regulator. The model identification mainly obtains the UAV position control ARMA model including the noise description through the augmented least square method; the minimum variance regulator design is mainly aimed at the previously obtained ARMA model, and minimizes the impact of noise on the control accuracy by estimating and compensating the noise. Impact. The invention can effectively improve the position control accuracy of the four-rotor UAV when hovering, and the method can effectively reduce the influence of system noise on the position control accuracy during hovering, thereby realizing high-precision position control.

Description

technical field [0001] The invention relates to a precise position control method for a quadrotor UAV, in particular to a precise position control method for a quadrotor UAV based on a minimum variance regulator, and belongs to the technical field of UAV flight control applications. Background technique [0002] In recent years, with the development of new materials, micro-electromechanical, power electronic devices, and microprocessor technology, quadrotor aircraft has developed rapidly. Its characteristics of being suitable for monitoring and reconnaissance tasks in near-ground and complex environments make it have broad military and civilian prospects; and its unique flight control method has also attracted a large number of scholars to study it. [0003] In the field of quadrotor control, the GRASP laboratory of the University of Pennsylvania is a world leader. Their quadrotor has been able to complete a variety of complex maneuvers indoors, such as passing through a na...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04G05B11/42G05D1/04
CPCG05B11/42G05B13/042G05D1/046
Inventor 于洋施泽楠张鑫
Owner 荷塘智能科技(固安)有限公司