Multi-rotor UAV yaw anti-saturation control method and device

By obtaining the spatial model parameters and controller parameters of the multi-rotor drone, determining the description form of the closed-loop system and designing a dynamic anti-saturation compensator, the problem of actuator saturation in the yaw motion of the drone is solved, and the control performance and immunity are improved.

CN114661058BActive Publication Date: 2025-03-25CHANGCHUN INST OF OPTICS FINE MECHANICS & PHYSICS CHINESE ACAD OF SCI
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Patent Information

Application Number
CN202110878504.3
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2021-08-02
Publication Date
2025-03-25
Estimated Expiration
2041-08-02

AI Technical Summary

Technical Problem

Multi-rotor drones are prone to actuator saturation during yaw motion, resulting in reduced yaw control performance and poor disturbance resistance.

Method used

By obtaining the spatial model parameters of the multi-rotor drone, the state space model is determined; then the parameters of the linear autoimmune controller and dynamic anti-saturation compensator are obtained, the description form of the closed-loop system is determined based on these parameters, and the parameter matrix of the dynamic anti-saturation compensator is determined through the LMI toolbox, and the design of the dynamic anti-saturation compensator is finally completed.

Benefits of technology

It improves the yaw control performance of multi-rotor drones, effectively suppresses the yaw anti-saturation phenomenon, enhances the anti-disturbance capability of the drone, and makes the controller easy to be engineered.

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Abstract

The present invention relates to the technical field of unmanned aerial vehicles, and specifically to a method and device for yaw anti-saturation control of a multi-rotor unmanned aerial vehicle, the method comprising: determining a state space model of the multi-rotor unmanned aerial vehicle based on space model parameters; determining the state space form of a linear anti-disturbance control controller based on controller parameters; determining the description form of a multi-rotor unmanned aerial vehicle closed-loop system for dynamic anti-saturation control; based on the description form of the multi-rotor unmanned aerial vehicle closed-loop system, determining a parameter matrix of a dynamic anti-saturation compensator, and completing the design of a dynamic anti-saturation compensator. This method uses a linear anti-disturbance control controller when the actuator of the unmanned aerial vehicle is not saturated; when the actuator of the unmanned aerial vehicle is saturated, dynamic anti-saturation compensation is performed to complete the design of a dynamic anti-saturation compensator; this method can not only improve the yaw control performance of the unmanned aerial vehicle, but also effectively suppress the yaw anti-saturation phenomenon, enhance the anti-disturbance capability of the unmanned aerial vehicle, and the controller is easy to adjust in engineering.
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