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Unmanned aerial vehicle height control method based on UDE estimator

A height control, unmanned aerial vehicle technology, applied in the direction of vehicle position/route/height control, non-electric variable control, control/regulation system, etc.

Pending Publication Date: 2020-10-23
CHENGDU AERONAUTIC POLYTECHNIC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the invention is to solve the problem of unmanned aerial vehicle height control, and proposes a method for controlling the height of unmanned aerial vehicle based on UDE estimator

Method used

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  • Unmanned aerial vehicle height control method based on UDE estimator
  • Unmanned aerial vehicle height control method based on UDE estimator
  • Unmanned aerial vehicle height control method based on UDE estimator

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Embodiment Construction

[0045] The embodiments of the present invention will be further described below in conjunction with the drawings.

[0046] Such as figure 1 As shown, the present invention provides a UDE estimator-based drone height control method, which includes the following steps:

[0047] S1: Select a quadrotor UAV as the modeling object and establish a highly dynamic model;

[0048] S2: Feedback linearization of highly dynamic models;

[0049] S3: According to the highly dynamic model after feedback linearization, obtain the reference model and design the highly UDE control law;

[0050] S4: Set the parameters of the reference model and the altitude UDE control law to complete the altitude control of the UAV.

[0051] In the embodiment of the present invention, such as figure 1 As shown, in step S1, the method to establish a highly dynamic model is: calculate the vertical acceleration of the quadrotor UAV The calculation formula is:

[0052]

[0053] Where u 4 Represents the combined force generated...

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Abstract

The invention discloses an unmanned aerial vehicle height control method based on a UDE estimator, and the method comprises the following steps: S1, selecting a quadrotor unmanned aerial vehicle as amodeling object, and building a height dynamic model; S2, performing feedback linearization on the height dynamic model; S3, obtaining a reference model and designing a height UDE control law according to the height dynamic model obtained after feedback linearization; and S4, setting parameters of the reference model and the height UDE control law, and completing height control of the unmanned aerial vehicle. Under the condition that the model is uncertain and has interference, the height UDE control law is designed, and high-precision tracking control without overshoot and interference resistance of the height of the unmanned aerial vehicle can be achieved. Meanwhile, under the conditions of inaccurate model parameters and uncertain disturbance, the height of the unmanned aerial vehicle can be accurately controlled without overshoot, and the method has very positive significance for landing of the unmanned aerial vehicle, so that the unmanned aerial vehicle lands quickly and is prevented from colliding with the ground.

Description

Technical field [0001] The invention belongs to the technical field of motion control, and specifically relates to a UDE estimator-based drone height control method. Background technique [0002] Due to the rise of aerial photography drones in recent years, due to its advantages of simple operation, flexible control and high cost performance, it has developed rapidly in many military and civilian fields, such as land survey, agricultural plant protection, power inspection, land inspection, video aerial photography, forest fire prevention And scientific research platforms. [0003] Nevertheless, but limited by the use of low-cost MEMS sensors, the control of drones is not yet perfect. Especially for the height control of drones, because of ground effects and other uncertain disturbances in the outside world, the take-off and landing of drones are prone to landing collisions and landing rollovers, causing unnecessary losses. Summary of the invention [0004] The purpose of the prese...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 王强刘明鑫王思源田园
Owner CHENGDU AERONAUTIC POLYTECHNIC
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