Method for adjusting to-be-set parameters in unmanned aerial vehicle attitude control and related device
A technology of drone attitude and parameters, applied in the field of drone control, can solve problems such as difficult adjustment and many parameters
Pending Publication Date: 2019-04-05
SHENZHEN INST OF ADVANCED TECH CHINESE ACAD OF SCI
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[0002] With the rapid development of quadrotor drones, quadrotor drones are widely used in many fields, such as aerial photography, weather detection, border inspection, etc., and a controller that can realize stable flight of quadrotor drones is designed , has a strong anti-jamming ability, which is the main technical problem to be solved in the field of unmanned aerial vehicles, but in the process of designing a UAV with strong anti-interference ability, it encounters technical problems such as many parameters and difficult adjustment
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[0030] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific embodiments described here are only used to explain the present application, but not to limit the present application. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.
[0031] In the description of the present application, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined. Furthermore, the terms "include" and "have", as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units...
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The invention discloses a method for adjusting to-be-set parameters in unmanned aerial vehicle attitude control. The method comprises the steps that a target angle signal is obtained, and after the target angle signal is subjected to auto-disturbance-rejection control processing, an output voltage signal and an output angle signal are generated; and the target angle signal is utilized to conduct optimization processing on the previous to-be-set parameters participating in auto-disturbance-rejection control processing so as to obtain target to-be-set parameters, the to-be-set parameters are to-be-set parameters in unmanned aerial vehicle attitude control, and the target to-be-set parameters are to-be-set parameters with the adaption value being less than or equal to a first preset threshold. In this way, the to-be-set parameters in unmanned aerial vehicle attitude control can be adaptively adjusted. The invention further provides an unmanned aerial vehicle attitude control system, an unmanned aerial vehicle and a storage medium.
Description
technical field [0001] The present application relates to the field of UAV control, in particular to a method for adjusting parameters to be adjusted in UAV attitude control and related devices. Background technique [0002] With the rapid development of quadrotor drones, quadrotor drones are widely used in many fields, such as aerial photography, weather detection, border inspection, etc., and a controller that can realize stable flight of quadrotor drones is designed , has a strong anti-jamming ability, which is the main technical problem to be solved in the field of unmanned aerial vehicles, but in the process of designing a UAV with strong anti-interference ability, it encounters technical problems such as many parameters and difficult adjustment . Contents of the invention [0003] The technical problem mainly solved by this application is to enable self-adaptive adjustment of the parameters to be adjusted in the attitude control of the UAV. [0004] In order to sol...
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IPC IPC(8): G05D1/08
CPCG05D1/0808
Inventor 周翊民韩波吕琴
Owner SHENZHEN INST OF ADVANCED TECH CHINESE ACAD OF SCI