Quadrotor unmanned aerial vehicle landing method based on double-loop PD control algorithm control
A quadrotor UAV and control algorithm technology, applied in attitude control, control/regulation system, non-electric variable control, etc., can solve the problem of less research
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Embodiment 1
[0098] Embodiment 1: as attached Figure 3-1 , 3-2 As shown in and 3-3, the (x d ,y d ) and (θ d ,ψ d ,φ d ) for simulation, specifically under Matlab R2017a, the values of each parameter during simulation are shown in Table 1:
[0099] Table 1 Simulation parameters of the controlled object
[0100] parameter value illustrate m 2 Total Mass of UAV l 0.2 Drone Radius Length g 9.8 acceleration of gravity K 1
0.01 drag coefficient 1 K 2
0.01 drag coefficient 2 K 3
0.01 Drag Coefficient 3 K 4
0.012 Drag Coefficient 4 K 5
0.012 Drag coefficient 5 I 1
1.25 Moment of inertia 1 I 2
1.25 Moment of inertia 2 I 3
2.5 Moment of inertia 3
[0101] The specific steps of the simulation are:
[0102] S1. Set the initial state of the controlled object as [3 0 2 0 10 0], and the initial state of the angle as [0 0 0 0π / 6 0];
[0103] S2. Using the position control law ...
Embodiment 2
[0105] Embodiment 2: Different from Embodiment 1, in the simulation process, white noise with limited bandwidth is introduced into the system, and the convergence process of the three positions when the obtained quadrotor UAV lands is shown in the attached Figure 4 shown;
[0106] From attached Figure 4 It can be seen from the convergence curve of the system that after the white noise is introduced, the system position state curve generally converges, and there is an overshoot but the range is small, and finally the quadrotor UAV lands near (10,8,0). It can be seen from the simulation results that the dual-loop PD control algorithm is also practical when there is a disturbance in the system.
[0107] From attached figure 2 - attached Figure 4 It can be obtained that, by designing a landing algorithm based on dual-loop PD control, the outer loop controls the position, and the inner loop controls the attitude; the intermediate command signal θ generated by the outer loop ...
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