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Multi-rotor Attitude Active Disturbance Rejection Control Method and System Based on Axis Angle Vector

A multi-rotor and attitude technology, applied in the general control system, control/regulation system, adaptive control, etc., can solve the problems of loss of control accuracy, and achieve improved adaptability, improved response speed and control accuracy, and strong adaptability Effect

Active Publication Date: 2022-02-08
PRODRONE TECH (SHENZHEN) CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide a multi-rotor attitude active disturbance rejection control method and system based on the axis angle vector to solve the problem of loss of control accuracy

Method used

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  • Multi-rotor Attitude Active Disturbance Rejection Control Method and System Based on Axis Angle Vector
  • Multi-rotor Attitude Active Disturbance Rejection Control Method and System Based on Axis Angle Vector
  • Multi-rotor Attitude Active Disturbance Rejection Control Method and System Based on Axis Angle Vector

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Experimental program
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Embodiment 1

[0104] see figure 1 , figure 1 The flow block diagram of the multi-rotor attitude active disturbance rejection control method based on the axis angle vector provided by Embodiment 1 of the present invention is applied to a multi-rotor UAV, and the multi-rotor UAV includes three axes for flight, The method mainly includes the following steps:

[0105] S10. Based on the pre-obtained target attitude angle of the body and the current attitude angle of the body, acquire the target angular velocity of the three axes;

[0106] What needs to be explained here is that the target attitude angle of the multi-rotor is , , ; Indicates the roll in the target attitude angle, Indicates the pitch in the target attitude angle, Indicates the heading in the target attitude angle;

[0107] The current attitude angle of the body is , , , Indicates the roll in the current attitude angle of the airframe, Indicates the pitch in the current attitude angle of the airframe, Indi...

Embodiment 2

[0165] see figure 2 , this embodiment provides a multi-rotor attitude active disturbance rejection control system based on the axis angle vector, including:

[0166] The acquisition module is used to obtain the target angular velocity of the three axes based on the target attitude angle of the body and the current attitude angle of the body; it is also used for:

[0167] S11. Putting the target attitude angle of the airframe and the current attitude angle of the airframe into the Euler angle conversion quaternion formula to obtain the quaternion of the target attitude angle and the quaternion of the current attitude angle.

[0168] S12. Obtain the quaternion of the target attitude according to the quaternion of the target attitude angle;

[0169] S13. Based on the quaternion of the current attitude angle and the quaternion of the target attitude, the quaternion of the attitude error is obtained, and the vector of the target angular velocity is calculated.

[0170] In step S...

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Abstract

The invention relates to a multi-rotor attitude active disturbance rejection control method and system based on an axis angle vector, comprising the following steps: based on the pre-obtained target attitude angle of the body and the current attitude angle of the body, obtaining the target angular velocity of the three axes; obtaining the current angular velocity of the body , estimate the current angular acceleration and disturbance, and obtain the final attitude control amount based on the target angular velocity vector. The present invention regards the attitude movement as a rotational movement based on the rotation vector in space, and obtains the final attitude control amount through the target angular velocity, the current angular velocity of the body, and estimates the current angular acceleration and disturbance, which overcomes the problem of losing control accuracy. At the same time, the disturbance quantity is introduced, so that it has the function of self-disturbance rejection, so as to improve the response speed of the attitude and the adaptability of the controller.

Description

technical field [0001] The invention relates to the technical field of multi-rotor UAVs, in particular to a multi-rotor attitude active disturbance rejection control method and system based on an axis angle vector. Background technique [0002] At present, the commonly used multi-rotor attitude control method is cascaded PID control. Each control channel (including pitch, roll, and heading) is independent of each other. Each control channel contains two control loops, namely the outer loop angle loop and the inner loop. The angular velocity loop and the angle loop input the target attitude angle and the current actual attitude angle, generate the target angular velocity through the PID controller, and input the generated target angular velocity and the current actual angular velocity into the angular velocity loop PID controller to generate the final attitude control amount. [0003] The PID controller has the problems of poor parameter adaptability, slow tracking response a...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/02
CPCG05B13/024
Inventor 黄立张原艺洪亮王龙宋帅薛源刘华斌
Owner PRODRONE TECH (SHENZHEN) CO LTD