Yaw anti-saturation control method and device for multi-rotor unmanned aerial vehicle

Abstract

The invention relates to the technical field of unmanned aerial vehicles, in particular to a yaw anti-saturation control method and device for a multi-rotor unmanned aerial vehicle, and the method comprises the steps: determining a state space model of the multi-rotor unmanned aerial vehicle based on a space model parameter; determining a state space form of the linear active disturbance rejection controller based on the controller parameters; determining a description form of a dynamic anti-saturation control multi-rotor unmanned aerial vehicle closed-loop system; and based on the description form of the closed-loop system of the multi-rotor unmanned aerial vehicle, determining a parameter matrix of the dynamic anti-saturation compensator, and completing the design of the dynamic anti-saturation compensator. According to the method, when the actuator of the unmanned aerial vehicle is not saturated, a linear active-disturbance-rejection controller is adopted; when the actuator of the unmanned aerial vehicle is saturated, dynamic anti-saturation compensation is carried out, and the design of a dynamic anti-saturation compensator is completed; according to the method, the yaw control performance of the unmanned aerial vehicle can be improved, the yaw anti-saturation phenomenon is effectively inhibited, the anti-disturbance capability of the unmanned aerial vehicle is enhanced, and the controller is easy for engineering adjustment.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular, to a method and a device for yaw and anti-saturation control of a multi-rotor unmanned aerial vehicle. Background technique [0002] The multi-rotor UAV relies on the motor to drive the rotor to generate motion. In practical engineering, due to physical limitations, the motor can only reach a limited speed. Therefore, the attitude control of multi-rotor UAV has the phenomenon of actuator saturation. [0003] Actuator saturation can lead to prolonged system regulation time, increased overshoot, oscillations, and even system instability. Taking the most common quadrotor UAV as the control object, its yaw motion is driven by anti-torque moment, and the pitch and roll directions are driven by lift moment. In contrast, the yaw attitude movement ability is relatively weak. [0004] In actual flight, especially in the face of the actual complex flight environment, the ...

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Problems solved by technology

[0005] The embodiment of the present invention provides a multi-rotor drone yaw anti-saturation control method and device, the method improves the yaw control performance, enhances the yaw anti-disturbance ability, and solves the problem that the yaw motion of the multi-rotor drone is easy to reach the actuator saturation problem

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