Multi-rotor flight control method based on nonlinear inverse compensation

Abstract

The invention discloses a multi-rotor flight control method based on nonlinear inverse compensation. The method comprises the following steps: firstly, performing kinetic analysis on a multi-rotor aircraft, and establishing a multi-rotor kinetic equation according to the Newton's second law and the kinetic moment theorem; secondly, establishing an equivalent model of the brushless direct current motor, deriving a relational expression between the rotating speed of the motor and the force and moment borne by the multiple rotors, and determining a multi-rotor flight control equation set; and finally, establishing inverse mapping of a nonlinear link, establishing a pseudo-linear system through inverse mapping, and designing a controller based on an inner and outer loop control structure. Themulti-rotor flight control method based on nonlinear inverse compensation is high in trajectory tracking precision, high in response speed and high in anti-interference capability, and can stably andaccurately control the position and attitude of the multi-rotor aircraft.

Description

technical field [0001] The invention belongs to the technical field of automatic control, in particular to a multi-rotor flight control method based on nonlinear inverse compensation. Background technique [0002] A multi-rotor aircraft is a kind of unmanned aerial vehicle that relies on the rotor to provide lift and can fly autonomously or remotely. Multi-rotors have a wide range of applications, especially in the civilian field, and can be used for aerial photography, rescue, plant protection, monitoring, etc. The flight control system is an inner loop control system that uses the information generated by the sensor as the feedback signal in the UAV control system to realize the stability or maneuvering of the UAV. Common multi-rotor flight control methods include PID, optimal control, sliding Modal control and fuzzy logic control. [0003] At present, the conventional PID control method is widely used in engineering to design controllers. This conventional controller do...

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Problems solved by technology

[0003] At present, the conventional PID control method is widely used in engineering to design controllers. This conventional controller does not have too much requirements on the accuracy of the multi-rotor aircraft model, and ignores the influence of uncertain items in the multi-rotor aircraft model. This approximation is only in the multi-rotor aircraft model The rotor is in a near-hover state. When the multi-rotor is flying with large maneuvers, the performance of the conventional controller will deteriorate sharply, and there will be potential safety hazards.

At the same time, the conventional controller only provides a feedback channel for the output of the control system, the design process of the control law is simple, the control accuracy is low, and the control performance is poor.

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