Attitude control method and system for quad-rotor aircraft based on auto-disturbance rejection control technology

A quadrotor aircraft, active disturbance rejection control technology, applied in attitude control and other directions, can solve problems such as poor anti-disturbance ability, and achieve the effect of improving robustness, ensuring smooth transition, and improving anti-disturbance ability and tracking accuracy

Active Publication Date: 2019-12-03
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

[0006] In view of this, the present invention provides a quadrotor attitude control method and system based on the active disturbance rejection control technology, which can effectively improve the overall performance of the quadrotor aircraft. The anti-interference ability and tracking accuracy can effectively improve the robustness of quadrotor aircraft attitude control

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  • Attitude control method and system for quad-rotor aircraft based on auto-disturbance rejection control technology
  • Attitude control method and system for quad-rotor aircraft based on auto-disturbance rejection control technology
  • Attitude control method and system for quad-rotor aircraft based on auto-disturbance rejection control technology

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Embodiment Construction

[0035] A preferred embodiment of the present invention provides an attitude control scheme for a quadrotor aircraft based on the active disturbance rejection control technology. For the convenience of controlling and adjusting parameters, a double-loop controller is designed, that is, the angle controller of the outer loop and the angular velocity controller of the inner loop are designed to control its attitude. After analysis, the model uncertainty and disturbance of the quadrotor aircraft can be regarded as all applied to the inner angular velocity loop, so the outer angular velocity loop still adopts the general PD controller, and the inner angular velocity loop is designed with an active disturbance rejection angular velocity control. device. Active disturbance rejection angular velocity controller + PD angle controller constitutes active disturbance rejection attitude controller.

[0036] For the design of the inner-loop active disturbance rejection angular velocity con...

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Abstract

The invention discloses an attitude control method and system for a quad-rotor aircraft based on an auto-disturbance rejection control technology, and can effectively improve the robustness of the attitude control of the quad-rotor aircraft. The method comprises the following steps of using auto-disturbance rejection control to implement angular velocity loop control in attitude control; in an auto-disturbance rejection controller, obtaining given angular velocity and angular acceleration after performing smooth noise reduction on a given angular velocity signal by a tracking differentiator; adopting a second-order extended state observer, and performing observation and estimation on the state of each order of the angular velocity control model, internal and external disturbances acting onthe model and the sum of system un-modeled dynamics by using the feedback angular velocity of the controlled object and the control quantity u(t-tau) added to the motor response delay; using the difference between the output quantity of the observer and the given quantity to obtain a preliminary control quantity through the calculation of a nonlinear control rate, using the disturbance estimationquantity obtained by the observer to perform compensation on the basis of the preliminary control quantity, and obtaining the final output control quantity u(t).

Description

technical field [0001] The invention belongs to the technical field of quadrotor aircraft control, and relates to a quadrotor aircraft attitude control method and system based on the active disturbance rejection control technology. Background technique [0002] A quadrotor is an aircraft capable of vertical take-off and landing (VTOL). It belongs to a non-coaxial disc aircraft in general layout. Compared with conventional rotorcraft, the quadrotor structure is more It is compact and produces more lift, and the two pairs of rotors rotating in opposite directions can cancel each other's anti-torque moments, so no anti-torque propellers are needed. Compared with fixed-wing aircraft, quadrotor UAV can take off and land vertically and hover freely, and has strong maneuverability, which is especially suitable for performing tasks under complex conditions. With the widespread application of quadrotor UAVs in civil and military fields in recent years, it has not only improved the l...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08
Inventor 夏元清郝晨希马代亮姜鸿儒翟弟华张金会戴荔林敏巩敏许刚
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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