Plant protection quad-rotor unmanned aerial vehicle height control method based on pesticide liquid measurement

Abstract

The invention discloses a plant protection quad-rotor unmanned aerial vehicle height control method based on pesticide liquid measurement. The feedforward controller inputs acceleration and attitude information and then outputs a feedforward compensation accelerator, and the feedforward compensation accelerator and the improved active-disturbance-rejection control accelerator are superposed to form a master control accelerator; the residual amount of the liquid medicine is obtained by measuring the outflow amount of the liquid medicine, the linear expansion state observer monitors and receives the residual amount of the liquid medicine, a height observation value, a speed observation value and a disturbance observation value are obtained through treatment of an accelerator and a master control accelerator, and the speed and the height deviation are obtained after the height observation value, the speed observation value and the height and speed reference control amount output by the linear differentiator are subtracted. The disturbance observation value and the nonlinear control law output are superposed to form improved active-disturbance-rejection control accelerator feedback. According to the plant protection four-rotor aircraft height control system, the expansion state observer technology based on liquid medicine information and feed-forward control are adopted, the anti-interference and quick response capacity of the height control system is remarkably improved, and the influence of multi-source interference on the height control performance of the plant protection four-rotor aircraft is effectively restrained.

Description

technical field [0001] The invention belongs to the technical field of drones and relates to a method for controlling the height of a rotor drone, and relates to a method for controlling the height of a four-rotor drone for plant protection based on liquid medicine measurement. Background technique [0002] Quadrotor drone is a kind of drone that can take off and land vertically. It has the advantages of small size, good maneuverability, simple control, and low manufacturing cost. It has been widely used in modern agricultural operations. Plant protection quadrotors can perform tasks such as pesticide spraying and seed sowing, which play a very important role in preventing and controlling pests and diseases and improving crop yields. [0003] However, when the plant protection quadrotor UAV performs the spraying task, the reduction and shaking of the liquid medicine will lead to unstable height control, which will affect the accuracy and uniformity of the plant protection qu...

AI Technical Summary

Problems solved by technology

[0003] However, when the four-rotor UAV for plant protection performs the spraying task, the reduction and shaking of the liquid medicine will lead to unstable height control, which will affect the accuracy and uniformity of the four-rotor UAV for plant protection.

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