Improved self-disturbance-resistance quad-rotor unmanned aerial vehicle height control method

Abstract

The invention discloses an improved self-disturbance-resistance quad-rotor unmanned aerial vehicle height control method. The method comprises the following steps of step1, based on a mechanism modeling method, establishing a nonlinear dynamic model of a quad-rotor unmanned aerial vehicle height direction; step2, decomposing the nonlinear dynamic model into a linear item and a uncertain item; step3, using a tracking differentiator to obtain a height direction position and a speed expectation value; step4, estimating a disturbance item in a system using a first-order extended state observer; and step5, designing an error feedback control law based on a PD algorithm and feedforward control, and using a disturbance item value estimated by the extended state observer to compensate the uncertain item of the system. An improved tracking differentiator is used to plan a height flight strategy, and an acceleration-uniform speed-deceleration flight mode is constructed so that a quad-rotor unmanned aerial vehicle can rise (or descend) from one height to another height in the shortest time; and a maximum acceleration during flight and a speed of a uniform speed segment can be set autonomously.

Description

technical field [0001] The invention belongs to the field of automatic control of unmanned aerial vehicles, and in particular relates to a method for controlling the height of a quadrotor unmanned aerial vehicle with improved self-disturbance. Background technique [0002] The stability control of UAV is one of the core and key points of UAV system research. Its research not only has great practical significance, but also has far-reaching theoretical significance. [0003] At present, quadrotor drones are quite common in the market, but it is still difficult to design a flight control system with strong anti-interference ability. Especially when considering the situation of UAVs carrying payloads, it is a challenging problem to achieve stable control in the altitude direction. [0004] In the past few decades, various control algorithms have been studied and used in the stability control of UAVs. Commonly used controllers include PID controllers, backstepping controllers, ...

AI Technical Summary

Problems solved by technology

In recent years, this control method has been applied in the flight control of unmanned aerial vehicles, but there are few ADRC parameter tuning methods at present, and the nonlinear structure is still relatively complex, so it is difficult to apply in practice; in addition, the current application Most of the cases are in UAV attitude control, but there are still no successful applications in height control or horizontal direction

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