Four-rotor active disturbance rejection controller based on particle swarm optimization algorithm

Abstract

The invention discloses a quad-rotor active disturbance rejection controller based on a particle swarm optimization algorithm, and relates to the technical field of quad-rotor unmanned aerial vehicles. The method comprises the following steps: step 1, establishing a mathematical model of the four-rotor aircraft; 2, designing an active disturbance rejection controller, namely dividing a four-rotoraircraft system into four channels for controlling, namely height, pitching, rolling and yawing, and controlling each channel to have an independent ADRC; estimating the total disturbance in real time, and compensating the total disturbance while controlling the output of the controlled quantity of the controlled system; 3, improving a particle swarm algorithm and setting controller parameters; 4,building Simulink simulation and a four-rotor aircraft; the invention aims to improve the flight control performance. Optimizing the parameters of the active disturbance rejection controller by usinga particle swarm algorithm so as to improve the design efficiency; and meanwhile, the particle swarm is improved for the problem that the particle swarm algorithm is easy to fall into local optimum.

Description

technical field [0001] The invention belongs to the technical field of four-rotor drones, and in particular relates to a four-rotor ADRC controller based on a particle swarm optimization algorithm. Background technique [0002] At present, a large number of open source projects of quadrotor UAVs have emerged at home and abroad. The main control algorithm is PID, but the flight effect is not ideal. worse. Another control algorithm such as backstep control can improve the anti-jamming ability of the quadrotor UAV, but the control effect is too dependent on the accuracy of the mathematical model. Although a good control effect can be obtained in the simulation experiment, the flight process of the quadrotor UAV is a very complicated process, and it is difficult to establish an accurate mathematical model. The patent of this invention proposes a quadrotor based on the particle swarm optimization algorithm. Active disturbance rejection controller. Contents of the invention ...

AI Technical Summary

Problems solved by technology

[0002] At present, a large number of open source projects of quadrotor UAVs have emerged at home and abroad. The main control algorithm is PID, but the flight effect is not ideal. worse

Another control algorithm such as backstep control can improve the anti-interference ability of the quadrotor UAV, but the control effect is too dependent on the accuracy of the mathematical model

Although a good control effect can be obtained in the simulation experiment, the flight process of the quadrotor UAV is a very complicated process, and it is difficult to establish an accurate mathematical model. The patent of this invention proposes a quadrotor based on the particle swarm optimization algorithm. ADRC

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