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Quadrotor unmanned aerial vehicle attitude control method considering inertia uncertainty

A quadrotor UAV, uncertainty technology, applied in attitude control, non-electric variable control, control/regulation system and other directions, can solve problems such as poor interference processing ability

Active Publication Date: 2020-11-03
BEIHANG UNIV
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  • Abstract
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  • Claims
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AI Technical Summary

Problems solved by technology

[0005] The technical problem solved by the present invention is: Aiming at the influence of various factors such as uncertain inertia of the system and external interference when the high-precision attitude control of the quadrotor UAV is grasping or throwing objects, a method that considers the uncertain inertia is proposed. The unique attitude control method of quadrotor UAV solves the problems of insufficient adaptability of quadrotor UAV to system inertia uncertainty and weak interference processing ability when grabbing or throwing objects, improves the system task adaptability, and has engineering practicality The advantages of strong resistance and strong anti-interference ability

Method used

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  • Quadrotor unmanned aerial vehicle attitude control method considering inertia uncertainty
  • Quadrotor unmanned aerial vehicle attitude control method considering inertia uncertainty
  • Quadrotor unmanned aerial vehicle attitude control method considering inertia uncertainty

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Embodiment Construction

[0036] The present invention will be described in detail below in conjunction with the drawings and embodiments.

[0037] Such as figure 1 As shown, the design steps of a high-precision attitude control method for a quad-rotor UAV considering the uncertainty of inertia according to the present invention are as follows: First, establish a quad-rotor UAV attitude loop model containing external interference; The attitude loop model of the rotary-wing UAV is transformed into an error equation; again, the four-rotor UAV attitude control law is designed; then, the interference observer is designed using the error equation; finally, the interference estimate is compensated through the feedforward channel, and Compound with control law.

[0038] The specific implementation steps are as follows:

[0039] The first step is to establish a quad-rotor UAV attitude loop model with external interference as follows:

[0040]

[0041]

[0042]

[0043] Among them, J 0x Indicates the moment of inerti...

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Abstract

The invention relates to a quadrotor unmanned aerial vehicle attitude control method considering inertia uncertainty. The method comprises the following steps: firstly, establishing a quadrotor unmanned aerial vehicle attitude loop model containing external interference aiming at the influence caused by various factors such as uncertain system inertia and external interference when a quadrotor unmanned aerial vehicle grabs or throws articles; secondly, converting the attitude loop model of the quad-rotor unmanned aerial vehicle into an error equation; thirdly, designing an attitude control lawof the quad-rotor unmanned aerial vehicle; secondly, designing a disturbance observer by utilizing an error equation; and finally, compensating the interference estimation value through a feedforwardchannel, and combining the interference estimation value with a control law. The method has the advantages of high engineering practicability and high anti-interference capability, and is suitable for high-precision attitude control of the quad-rotor unmanned aerial vehicle.

Description

Technical field [0001] The invention relates to a quadrotor unmanned aerial vehicle attitude control method considering the uncertainty of inertia, which can solve the high inertia uncertainty caused by the quadrotor unmanned aerial vehicle grabbing or throwing objects, etc., thereby bringing about high-precision control problems , It belongs to the technical field of UAV flight control application. Background technique [0002] Due to its small size and high maneuverability, the four-rotor UAV can complete complex tasks in a small space. It has a wide range of applications in military, civil and scientific research, such as power inspection, forest fire prevention and other tasks. . [0003] The high-precision posture stability control of quadrotor drones after grabbing or throwing objects still faces huge challenges. First of all, grabbing or throwing objects has a greater impact on the overall quality of the quadcopter drone. The larger the quality of the item, the greater the...

Claims

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Application Information

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IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 余翔谢一嘉朱玉凯刘偲郭雷乔建忠
Owner BEIHANG UNIV
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