Four-rotor unmanned aerial vehicle attitude control method based on linear active disturbance rejection control

A linear active disturbance rejection and control method technology, applied in attitude control, vehicle position/route/height control, non-electric variable control, etc., can solve problems such as control quality degradation, system instability, and tracking performance deterioration, and achieve improved Effects of dynamic characteristics, enhanced robustness, and improved tolerance

Pending Publication Date: 2021-09-03
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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AI Technical Summary

Problems solved by technology

In the actual quadrotor UAV flight controller products, the PID controller is still the most widely used control technology. The principle of the PID controller is simple, the structure i

Method used

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  • Four-rotor unmanned aerial vehicle attitude control method based on linear active disturbance rejection control
  • Four-rotor unmanned aerial vehicle attitude control method based on linear active disturbance rejection control
  • Four-rotor unmanned aerial vehicle attitude control method based on linear active disturbance rejection control

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Embodiment Construction

[0043] Such as figure 1 As shown, a quadrotor UAV attitude control method based on linear ADRC includes the following steps:

[0044] Step 1. Before designing the attitude controller of the quadrotor UAV, it is first necessary to establish a mathematical model of the quadrotor UAV. Combining the theory of rotor aerodynamics and wind field models such as turbulence and wind shear, and using the Newton-Euler angle method, the angular dynamics model of the quadrotor UAV under wind disturbance is established, and its mathematical expression is:

[0045]

[0046] Among them, I x ,I y ,I z They are the moments of inertia on the x, y, and z axes respectively, and d is the distance from the center of the rotor to the origin of the coordinates of the body, that is, the axis radius, W x ,W y ,W z is the wind disturbance consisting of induced velocity, wind shear and turbulence, u i (i=2, 3, 4) are the roll channel control amount, the pitch channel control amount and the yaw ch...

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Abstract

The invention discloses a quadrotor unmanned aerial vehicle attitude control method based on linear active-disturbance-rejection control, and the method comprises the following steps: 1, designing a linear tracking differentiator based on a quadrotor unmanned aerial vehicle kinetic model, and arranging a transition process for an attitude angle input signal; 2, designing a linear expansion state observer according to the converted dynamic model of the unmanned aerial vehicle under the wind disturbance, and carrying out observation estimation on an attitude angle output signal and total disturbance; 3, designing a linear state feedback controller for compensation according to the attitude angle observation error and the total disturbance. According to the method, the system can be kept stable when the quad-rotor unmanned aerial vehicle is influenced by external disturbance, internal coupling, internal uncertainty and the like, and the tracking precision and rapidity of instructions are ensured.

Description

technical field [0001] The invention relates to the technical field of aircraft flight control, in particular to a method for controlling the attitude of a quadrotor UAV based on linear active disturbance rejection control. Background technique [0002] At present, the quadrotor drone has become a very representative member of the rotorcraft. It adopts a symmetrical structure and can realize vertical take-off and landing simply and flexibly, which has attracted the attention of researchers in various disciplines at home and abroad. Designing a control law with good control quality to improve the safety and efficiency of quadrotor flight missions has become the focus of scholars' research. [0003] From the control point of view, the quadrotor UAV is a nonlinear, coupled multi-input and multi-output system. Due to the limitations of its own structure and the external environment, it is easily affected by internal and external interference, and the flight quality and flight sa...

Claims

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Application Information

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IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 李春涛周辉李秀娟戴飞
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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