Rotor wing unmanned aerial vehicle wind disturbance resistance control method based on acceleration feedback enhancement

Abstract

The invention relates to the field of rotor unmanned aerial vehicle control, in particular to a rotor unmanned aerial vehicle wind disturbance resistance control method based on acceleration feedback enhancement, and the method comprises the steps: the design of conventional high-gain acceleration feedback, the introduction of a pre-filter, and the control of a rotor unmanned aerial vehicle. A cascade PID controller based on a geometric control theory is adopted as an original controller of a model, an acceleration feedback enhanced geometric controller is formed by combining an acceleration feedback method, a rotor unmanned aerial vehicle model is decoupled, a cascade H-infinity controller is designed for a decoupled system, and then the cascade H-infinity controller is combined with acceleration feedback to form a rotor unmanned aerial vehicle model. And a robust H-infinity controller with enhanced acceleration feedback is designed. According to the control method, the problem that conventional high-gain acceleration feedback is difficult to realize in an actual system is solved, the acceleration feedback is combined with the robust H-infinity control method, the stability of the system is ensured, the anti-disturbance capability of the system is further improved, and when the method is applied to the rotor unmanned aerial vehicle, stable navigation of the rotor unmanned aerial vehicle in a wind disturbance environment is ensured.

Description

technical field [0001] The present invention relates to the field of rotor UAV control, in particular to a wind-disturbance-resistant control method for a rotor UAV based on acceleration feedback enhancement. Background technique [0002] Rotor UAVs not only have the capability of three-dimensional movement, but also have the characteristics of vertical take-off and landing, fixed-point hovering, and flexibility. They are widely used in urban surveying and mapping, illegal construction investigation, express delivery, and urban fire protection. [0003] The existing control algorithms for rotor UAVs can better adapt to the friendly air environment, which is generally an open area and there is no large airflow disturbance. However, in practical application scenarios, strong winds or large air currents are often encountered, which will reduce its control accuracy and seriously affect its stability, thus greatly restricting the extensive and in-depth application of rotor UAVs. ...

AI Technical Summary

Problems solved by technology

[0005] The problem solved by the technology of the present invention is: aiming at the deficiency of the existing control method of the rotor UAV in the case of wind disturbance, a wind disturbance-resistant control method of the rotor UAV based on acceleration feedback control is proposed, which solves the problem of the rotor UAV in the wind disturbance. Anti-disturbance and Robust Control Problems in Wind Disturbance Environment

Images