Self-stabilizing cloud platform and control method for unmanned aerial vehicle

Abstract

The invention discloses an unmanned aerial vehicle self-stabilizing cloud platform and a control method. The method includes: using an adaptive complementary filtering algorithm and a quaternion method to determine the measured attitude angle information according to inertial measurement data; combining the expected attitude angle information with the actually measured attitude angle The information is differentially processed to obtain the current deflection angle; the PID control algorithm is used to compensate the current deflection angle to determine the actual control amount; the rotation of the three-axis motor is controlled according to the actual control amount. The present invention adopts adaptive complementary filtering algorithm and quaternion method to determine the measured attitude angle information according to the inertial measurement data, eliminates the accumulated error in the output angle and improves the accuracy of the control of the whole man-machine self-stabilizing platform; in addition, the present invention adopts PID The control algorithm compensates the current deflection angle to determine the actual control amount, thereby further reducing the system error, thus further improving the accuracy of the control of the whole man-machine self-stabilizing pan-tilt.

Description

technical field [0001] The invention relates to the field of cloud platform control technology, in particular to a self-stabilizing platform and control method for an unmanned aerial vehicle. Background technique [0002] The gimbal is the most common executive mechanism on the UAV. By installing the aerial camera, the end effector and the task execution mechanism on the gimbal to expand the function of the UAV, the UAV can operate flexibly in the air. At present, drones have been integrated into people's daily life, industrial production, equipment agricultural production and power inspection. [0003] As the application range of UAVs becomes wider and wider, various mission indicators have put forward more requirements on the control performance of UAV gimbals, such as stability, accuracy, and speed. It not only requires UAVs to With good self-stabilization performance, load performance and control performance, it is also required that the load pan / tilt can support the ca...

AI Technical Summary

Problems solved by technology

At present, most of the control methods of the pan / tilt are directly controlled by the motor, without a feedback system and its own angle measurement unit. The angle of the pan / tilt will accumulate more and more errors as the task execution time increases, and then realize the defect of low control accuracy.

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