Rotor unmanned aerial vehicle control system and method based on wind speed and direction sensor

Abstract

The invention relates to the field of rotor wing unmanned aerial vehicle control, particularly to a rotor wing unmanned aerial vehicle control system and method based on a wind speed and direction sensor. The system comprises a wind disturbance acceleration sensing system and an acceleration feedback control system which are arranged on a rotor wing unmanned aerial vehicle, wherein the wind disturbance acceleration sensing system comprises a wind speed and direction sensor, a filter, a wind disturbance acceleration calculation module and a communication module A, the wind speed and direction sensor is connected with the wind disturbance acceleration calculation module through the filter, the wind disturbance acceleration calculation module is connected with the communication module A and is in wireless communication with the acceleration feedback control system, and the wind disturbance acceleration calculation module receives the attitude information, detected by the acceleration feedback control system, of the rotor unmanned aerial vehicle, obtains wind disturbance acceleration, and transmits the wind disturbance acceleration to the acceleration feedback control system through the communication module A. According to the invention, measurement of an environment wind vector and wind disturbance acceleration calculation and feedback can be realized, feedback compensation control is carried out in combination with wind disturbance information, and the stability of the system is enhanced.

Description

technical field [0001] The invention relates to the field of rotor UAV control, in particular to a rotor UAV control system and method based on a wind speed and direction sensor. Background technique [0002] Rotor UAVs can take off and land vertically, maneuver flexibly, and their scope of use continues to expand. In addition to commercial consumption, industrial environment applications are also gradually increasing, so there are further requirements for its stability. However, conventional cascade control quantities are calculated and executed layer by layer by the position loop, which brings hysteresis and uncertainty. When there is a large wind disturbance in the outside world, this hysteresis characteristic will be further amplified by the integral term in the cascade control, and it is necessary to increase its stability by increasing the anti-wind disturbance function. Contents of the invention [0003] In view of the deficiencies in the prior art, the purpose of ...

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Problems solved by technology

However, the conventional cascade control quantity is calculated and executed layer by layer by the position loop, which brings hysteresis and uncertainty

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