Unmanned aerial vehicle propulsion motor control method, device, equipment and system based on second-order linear ADRC

Abstract

The invention provides an unmanned aerial vehicle propulsion motor control method, device, equipment and system based on second-order linear ADRC, and relates to the technical field of aviation aircrafts, and a second-order linear ADRC modulator comprises a differential tracker, an extended state observer and a second-order linear error feedback controller. A traditional PI control strategy can achieve good rotating speed control in a steady state, but the traditional PI control strategy is limited by the bandwidth of a PI controller and the accuracy of a mathematical model of a converter, and the dynamic rotating speed control effect of the traditional PI control strategy is poor. According to the method, a second-order linear ADRC control strategy is used for replacing a traditional PI control strategy, high-dynamic rotating speed control over the propulsion motor of the fixed-wing hybrid vertical take-off and landing unmanned aerial vehicle is achieved, and high-performance rotating speed control over the propulsion motor in the steady state and the dynamic state is achieved.

Description

Technical Field

[0001] The present invention relates to the field of aviation aircraft technology, and in particular to a method, device, equipment and system for controlling a propulsion motor of an unmanned aerial vehicle based on a second-order linear ADRC. Background Art

[0002] Compared with traditional fixed-wing UAVs, fixed-wing hybrid vertical take-off and landing UAVs have the following characteristics: small size, light weight, strong maneuverability, no operator, can perform dangerous tasks, and have vertical take-off function, which solves the problem of take-off restricted by the application site. The vertical take-off and landing propulsion system can realize the vertical take-off and landing and hovering functions of the UAV, so it also puts higher requirements on the speed control accuracy of the propulsion motor of the fixed-wing hybrid vertical take-off and landing UAV.

[0003] Currently, most commercial motor controls use PI regulators, which are limited by the bandwidth and accuracy of the regulator's mathematical model. When using the PI control strategy, the anti-interference ability is poor when in a dynamic process or subject to external interference, and there is a serious overshoot in the speed control, which is unacceptable for the stable operation of UAVs.

[0004] In view of this, this application is filed. Summary of the invention

[0005] The present invention provides a method, device, equipment and system for controlling a propulsion motor of an unmanned aerial vehicle based on a second-order linear ADRC, which can at least partially improve the above-mentioned problems.

[0006] To achieve the above object, the present invention adopts the following technical solutions: A UAV propulsion motor control method based on second-order linear ADRC, comprising: A differential tracker is used to obtain a target speed r of the second-order linear ADRC system, and a speed signal extraction value r1 and a speed signal differential value r2 are extracted according to the target speed r; Acquire actual output motor speed information y, observe the actual output motor speed information y using a preset extended state observer, and obtain an observed value z1 of the speed information, an observed differential value z2 of the speed signal, and a total disturbance z3 of the system; Subtract the observed value z1 of the speed information and the observed differential value z2 of the speed signal from the speed signal extraction value r1 and the speed signal differential value r2, respectively, to obtain a speed signal error e1 and a speed signal differential difference e2; A second-order linear error feedback controller is used to calculate the speed signal error e1, the speed signal differential difference e2 and the total disturbance z3 of the system to obtain an ADRC control system output value u0, and the ADRC control system output value u0 is divided by the observation parameter b, and the output actual speed y1 is obtained by passing the permanent magnet synchronous motor of the vertical flight system of the preset measured object; The motor speed signal of the latest state is re-acquired, and after observation and processing by the extended state observer, the latest states z1, z2, and z3 are obtained. The above steps are repeated until the difference between the actual motor speed and the target speed is less than the preset value.

[0007] The present invention also provides a UAV propulsion motor control device based on second-order linear ADRC, which includes: A data acquisition unit, used for acquiring a target speed r of the second-order linear ADRC system using a differential tracker, and extracting a speed signal extraction value r1 and a speed signal differential value r2 according to the target speed r; An observation unit is used to obtain actual output motor speed information y, and observe the actual output motor speed information y using a preset extended state observer to obtain an observed value z1 of the speed information, an observed differential value z2 of the speed signal, and a total disturbance z3 of the system; an error calculation unit, used for subtracting the observed value z1 of the speed information and the observed differential value z2 of the speed signal from the speed signal extraction value r1 and the speed signal differential value r2, respectively, to obtain a speed signal error e1 and a speed signal differential difference e2; an actual speed calculation unit, for calculating the speed signal error e1, the speed signal differential difference e2 and the system disturbance sum z3 by using a second-order linear error feedback controller to obtain an ADRC control system output value u0, dividing the ADRC control system output value u0 by an observation parameter b, and passing the result through a preset permanent magnet synchronous motor of a vertical flight system of a measured object to obtain an output actual speed y1; The adjustment unit is used to reacquire the latest state of the motor speed signal, obtain the latest state z1, z2, z3 after observation and processing by the expanded state observer, and repeat the above steps until the difference between the actual motor speed and the target speed is less than the preset value.

[0008] The present invention also provides a UAV propulsion motor control device based on second-order linear ADRC, comprising a memory and a processor, wherein the memory stores a computer program, and the computer program can be executed by the processor to implement the UAV propulsion motor control method based on second-order linear ADRC as described in any one of the above.

[0009] The present invention also provides a computer-readable storage medium storing a computer program, wherein the computer program can be executed by a processor of a device where the computer-readable storage medium is located to implement a second-order linear ADRC-based UAV propulsion motor control method as described in any one of the above.

[0010] In summary, the UAV propulsion motor control method based on second-order linear ADRC uses the second-order linear ADRC control strategy to replace the traditional PI control strategy to achieve high dynamic speed control of the propulsion motor of the fixed-wing hybrid vertical take-off and landing UAV. It can improve the speed response and anti-interference ability of the UAV, and this functional method does not require the addition of additional equipment. It is suitable for all UAVs and platforms with high requirements for motor control. It solves the problem of speed overshoot and poor anti-interference performance of the propulsion motor of the fixed-wing hybrid vertical take-off and landing UAV when responding to the target. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a flow chart of a method for controlling a UAV propulsion motor based on second-order linear ADRC provided by the first embodiment of the present invention; Figure 2 is a schematic diagram of a second-order linear ADRC provided by a first embodiment of the present invention; Figure 3 This is a comparison diagram of the speed control effects of the second-order linear ADRC strategy and the PI strategy provided by the first embodiment of the present invention; Figure 4 It is a module schematic diagram of a UAV propulsion motor control device based on second-order linear ADRC provided by the second embodiment of the present invention. DETAILED DESCRIPTION

[0012] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0013] refer to Figure 1 , Figure 2 , Figure 3 As shown, the first embodiment of the present invention discloses a UAV propulsion motor control method based on second-order linear ADRC, which can be executed by a historical urban area boundary control device based on a graph neural network (hereinafter referred to as the control device), and in particular, executed by one or more processors in the control device to implement the following method: The method is applied to a fixed-wing hybrid vertical take-off and landing UAV, the propulsion system of which includes a permanent magnet synchronous motor, a motor drive controller, and a ternary lithium battery, wherein the propulsion motor speed signal of the fixed-wing hybrid vertical take-off and landing UAV is obtained by decoding a rotary transformer inside the motor.

[0014] S1, using a differential tracker to obtain a target speed r of a second-order linear ADRC system, and extracting a speed signal extraction value r1 and a speed signal differential value r2 according to the target speed r; Preferably, the formula of the differential tracker is: ; in, is the sum of the external disturbance of the converter and the internal disturbance caused by the uncertainty of system modeling, k and k+1 are the system sampling times, x1(k) is the first output state of the differential tracker at time k, x2(k) is the second output state of the differential tracker at time k, x1(k+1) is the tracking signal at time k+1, x2(k+1) is the differential value of x1(k+1) at time k+1, h is the integration step, is the input speed signal of the differential tracker at time t, r is the speed factor, h0 is the system filter factor, and the fhan() function is the fastest control comprehensive function, and the formula is: ; Among them, z, a, and a0 are all intermediate variables in the calculation process of the differential tracker, x1 is the speed signal, and x2 is the differential value of x1.

[0015] In this embodiment, the fixed-wing hybrid vertical take-off and landing UAV has the ability to fly at high speed, can last for a long time, is suitable for long-distance flight, and has the vertical take-off function of a rotary-wing UAV. The fixed-wing hybrid vertical take-off and landing UAV does not need to taxi on a taxiway to take off, which reduces the restrictions on the take-off site. At the same time, it also puts forward higher control accuracy requirements for the propulsion motor of the fixed-wing hybrid vertical take-off and landing UAV. The fixed-wing hybrid vertical take-off and landing UAV propulsion system includes: a permanent magnet synchronous motor, a motor drive controller, and a ternary lithium battery. The propulsion motor speed signal is decoded according to the rotary transformer inside the motor.

[0016] Specifically, in this embodiment, the second-order linear ADRC system differential tracker obtains the target speed r, and the differential tracker extracts the speed signal extraction value r1 and the speed signal differential value r2 after processing. The formula of the differential tracker is: ; Among them, k and k+1 are the system sampling time, x1(k) and x2(k) are the output states of the differential tracker, that is, the speed and speed change rate information after filtering, x1(k+1) and x2(k+1) are the output state quantities of the differential tracker at the next moment, and h is the integration step size. is the input speed signal of the differential tracker at time t, r is the speed factor, which determines the tracking speed of the system, h0 is the system filter factor, which has a filtering effect, and the fhan() function is the fastest control comprehensive function and is defined as: ; Among them, z, a, and a0 are all intermediate variables in the calculation process of the differential tracker.

[0017] S2, obtaining actual output motor speed information y, using a preset extended state observer to observe the actual output motor speed information y, and obtaining an observed value z1 of the speed information, an observed differential value z2 of the speed signal, and a total disturbance z3 of the system; Preferably, before adopting a preset extended state observer to observe the actual output motor speed information y, the extended state observer is designed, specifically as follows: Select state variables , the continuous expansion state equation is obtained as: ; Among them, b0 is the compensation factor, u is the control amount, The sum of the external disturbance of the converter and the internal disturbance caused by the uncertainty of system modeling The first-order derivative of , x3 is the total disturbance of the tracking system, is a state variable The first derivative of is a state variable The first derivative of is a state variable The first derivative of According to the control principle of linear ADRC, the extended state observer is established, and the formula is: ; Among them, z1 is the actual value of the motor speed, z2 is the differential value of the motor speed, and z3 is the estimated value of the total disturbance. , , are the gains of the linear ESO, is the first-order derivative of the actual value z1 of the motor speed, is the first-order derivative of the differential component z2 of the motor speed, is the first-order derivative of the estimated value z3 of the total disturbance; The characteristic equation of the linear ESO is: , where s is the S domain; Assume that the poles of the characteristic roots are located at the same position , the gain formula of ESO is simplified to: .

[0018] In this embodiment, the actual output motor speed information y is processed by the extended state observer to obtain the observed value z1 of the speed signal, the observed differential value z2 of the speed signal, and the total disturbance z3 of the system. The design of the extended state observer includes: Select state variables , the continuous expansion state equation can be obtained as: ; According to the control principle of linear ADRC, the extended state observer is established as: ; Where z1 and z2 are the actual value and differential of the motor speed, respectively, and z3 is the estimated value of the total disturbance.

[0019] Choosing the appropriate linear ESO gain , , , which can realize the observation of each variable of the converter. , z2→ , z3→f.

[0020] The characteristic equation of linear ESO can be obtained as: .

[0021] In order to ensure the stability of the system, the characteristic root of the characteristic equation must be located on the negative half axis of the real axis. In order to facilitate parameter design, it is assumed that the poles of the characteristic root are located at the same position , then the gain of ESO can be simplified to: So the ESO gain is only related to Related parameters simplify the parameter design process.

[0022] S3, respectively subtracting the observed value z1 of the speed information and the observed differential value z2 of the speed signal from the speed signal extraction value r1 and the speed signal differential value r2 to obtain a speed signal error e1 and a speed signal differential difference e2; In this embodiment, the speed signal error e1 and the speed signal differential difference e2 are obtained by calculating the difference between the speed signal extraction value r1 and the speed signal differential value r2 and the speed signal observation value z1 and the speed signal observation differential value z2. The speed signal error e1 and the speed signal differential difference e2 are mainly obtained.

[0023] S4, using a second-order linear error feedback controller to calculate the speed signal error e1, the speed signal differential difference e2 and the system disturbance sum z3 to obtain an ADRC control system output value u0, dividing the ADRC control system output value u0 by an observation parameter b, and passing it through a preset permanent magnet synchronous motor of a vertical flight system of the measured object to obtain an output actual speed y1; Preferably, before using the second-order linear error feedback controller to calculate the speed signal error e1, the speed signal differential difference e2 and the system disturbance sum z3, the second-order linear error feedback controller is designed, specifically as follows: The linear PD proportional-derivative combination is used to construct a linear feedback controller, which is expressed as: ,in, is the reference value of the motor speed, is the proportional gain of the PD controller, is the differential gain of the PD controller; Design the second-order linear ADRC controller of the speed loop, the formula is: ; The closed-loop transfer function of the original system is converted into a second-order system without zero points. The formula is: ; The poles of the controller transfer function are chosen to be located at , we get the formula: .

[0024] In this embodiment, the speed signal error e1, the speed signal differential difference e2 and the total disturbance z3 of the system are processed by the second-order linear error feedback controller to obtain the output value u0 of the ADRC control system. After the error feedback controller is processed, the output value u is obtained, and u is divided by the observation parameter b and then passes through the vertical flight system permanent magnet synchronous motor of the measured object to output the actual speed. That is, the system output value u0 is divided by the observation parameter b, and the actual speed y1 is output after passing through the controlled object.

[0025] In this embodiment, the linear feedback controller of the second-order linear ADRC generally adopts a linear PD (proportional-differential) combination controller, and its expression is: , where is the reference value of the motor speed, , are the proportional and derivative gains of the PD controller respectively.

[0026] The second-order linear ADRC controller for the designed speed loop is:

[0027] The closed-loop transfer function of the original system is transformed into a second-order system without zeros: .

[0028] Also choose the controller transfer function poles at the same location , we can get: ; It can be seen that the gain of the PD controller is only Related parameters simplify the parameter design process.

[0029] In summary, after parameter optimization design, the parameters to be adjusted for the second-order linear ADRC controller are , , b0, three parameters, greatly simplifying the workload of setting parameters in engineering.

[0030] S5, reacquire the latest state of the motor speed signal, and obtain the latest state z1, z2, z3 after observation and processing by the extended state observer, and repeat the above steps until the difference between the actual motor speed and the target speed is less than the preset value.

[0031] In this embodiment, the latest state of the motor speed signal is processed by the extended state observer to obtain the latest state z1, z2, z3, and then the above steps S1-step S4 are circulated, so that the actual motor speed tends to the target speed, and the high dynamic control of the UAV propulsion motor is completed. In simple terms, the actual speed of the UAV vertical flight system is controlled by the output speed u, and the actual motor speed y1 is adjusted to obtain the latest state of the motor speed, and then the new z1, z2, z3 are obtained by the extended state observer, thereby generating a new output speed u. The above steps S2-S4 are circulated to make the speed error and the speed differential error tend to 0, so that the actual speed tends to the target speed, and the speed control of the UAV is completed.

[0032] In this embodiment, the second-order linear ADRC calculation may be repeated every 100 ms to obtain the latest ADRC control parameters.

[0033] Specifically, in this embodiment, the active disturbance rejection controller (ADRC) consists of three parts: a differential tracker, an extended state observer, and an error feedback controller. The linear active disturbance rejection controller is developed on the basis of nonlinear ADRC. It improves the extended state observer and the error feedback controller into linear control, links the selection of parameters with the bandwidth of the extended state observer and the controller, simplifies the tuning process, and has strong robustness and wide adaptability. The second-order linear ADRC modulator includes a differential tracker, an extended state observer, and a second-order linear error feedback controller. The traditional PI control strategy can achieve better speed control in steady state, but is limited by the bandwidth of the PI controller and the accuracy of the mathematical model of the converter. The traditional PI control strategy has poor dynamic speed control effect. The second-order linear ADRC-based unmanned aerial vehicle propulsion motor control method uses the second-order linear ADRC control strategy to replace the traditional PI control strategy to achieve high dynamic speed control of the fixed-wing hybrid vertical take-off and landing unmanned aerial vehicle propulsion motor. The motor speed can be controlled on the fixed-wing hybrid vertical take-off and landing unmanned aerial vehicle propulsion motor, and the functional method does not require the addition of additional equipment and is applicable to all unmanned aerial vehicle motor platforms. The problem of speed overshoot and poor anti-interference performance of the fixed-wing hybrid vertical take-off and landing UAV propulsion motor when responding to the target is solved.

[0034] See also Figure 4 The second embodiment of the present invention provides a UAV propulsion motor control device based on second-order linear ADRC, which includes: The data acquisition unit 201 is used to acquire the target speed r of the second-order linear ADRC system using a differential tracker, and extract a speed signal extraction value r1 and a speed signal differential value r2 according to the target speed r; The observation unit 202 is used to obtain the actual output motor speed information y, and observe the actual output motor speed information y using a preset extended state observer to obtain the observed value z1 of the speed information, the observed differential value z2 of the speed signal, and the total disturbance z3 of the system; The error calculation unit 203 is used to subtract the observed value z1 of the speed information and the observed differential value z2 of the speed signal from the speed signal extraction value r1 and the speed signal differential value r2, respectively, to obtain a speed signal error e1 and a speed signal differential difference e2; The actual speed calculation unit 204 is used to calculate the speed signal error e1, the speed signal differential difference e2 and the system disturbance sum z3 by using a second-order linear error feedback controller to obtain an ADRC control system output value u0, divide the ADRC control system output value u0 by an observation parameter b, and pass it through a preset permanent magnet synchronous motor of a vertical flight system of the measured object to obtain an output actual speed y1; The adjustment unit 205 is used to reacquire the latest state of the motor speed signal, obtain the latest state z1, z2, z3 after observation and processing by the extended state observer, and repeat the above steps until the difference between the actual motor speed and the target speed is less than the preset value.

[0035] The third embodiment of the present invention provides a UAV propulsion motor control device based on second-order linear ADRC, including a memory and a processor, wherein the memory stores a computer program, and the computer program can be executed by the processor to implement the UAV propulsion motor control method based on second-order linear ADRC as described in any one of the above.

[0036] A fourth embodiment of the present invention provides a computer-readable storage medium storing a computer program, wherein the computer program can be executed by a processor of a device where the computer-readable storage medium is located to implement a second-order linear ADRC-based UAV propulsion motor control method as described in any one of the above.

[0037] Exemplarily, the above-mentioned devices and process steps can be implemented by a computer program. The computer program can be divided into one or more units. The one or more units are stored in the memory and executed by the processor to complete the present invention.

[0038] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0039] The memory can be used to store the computer program and / or module, and the processor realizes various functions of the present invention by running or executing the computer program and / or module stored in the memory, and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area can store data created according to the use of the mobile phone (such as audio data, a phone book, etc.), etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (FlashCard), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0040] Wherein, if the electronic device or printer integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Wherein, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0041] It should be noted that the device embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, in the accompanying drawings of the device embodiments provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, which may be specifically implemented as one or more communication buses or signal lines. A person of ordinary skill in the art may understand and implement it without paying any creative effort.

[0042] The above is a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A UAV propulsion motor control method based on second-order linear ADRC, characterized in that: Applied to fixed-wing hybrid vertical take-off and landing UAVs, including: A differential tracker is used to obtain a target speed r of the second-order linear ADRC system, and a speed signal extraction value r1 and a speed signal differential value r2 are extracted according to the target speed r; Acquire actual output motor speed information y, observe the actual output motor speed information y using a preset extended state observer, and obtain an observed value z1 of the speed information, an observed differential value z2 of the speed signal, and a total disturbance z3 of the system; Subtract the observed value z1 of the speed information and the observed differential value z2 of the speed signal from the speed signal extraction value r1 and the speed signal differential value r2, respectively, to obtain a speed signal error e1 and a speed signal differential difference e2; A second-order linear error feedback controller is used to calculate the speed signal error e1, the speed signal differential difference e2 and the total disturbance z3 of the system to obtain an ADRC control system output value u0, and the ADRC control system output value u0 is divided by the observation parameter b, and the output actual speed y1 is obtained by passing the permanent magnet synchronous motor of the vertical flight system of the preset measured object; The motor speed signal of the latest state is re-acquired, and after observation and processing by the extended state observer, the latest states z1, z2, and z3 are obtained. The above steps are repeated until the difference between the actual motor speed and the target speed is less than the preset value.

2. The UAV propulsion motor control method based on second-order linear ADRC according to claim 1 is characterized in that: The propulsion system of the fixed-wing hybrid vertical take-off and landing UAV includes: a permanent magnet synchronous motor, a motor drive controller, and a ternary lithium battery, wherein the propulsion motor speed signal of the fixed-wing hybrid vertical take-off and landing UAV is obtained by decoding the rotary transformer inside the motor.

3. The UAV propulsion motor control method based on second-order linear ADRC according to claim 1 is characterized in that: The formula of the differential tracker is: ； in, is the sum of the external disturbance of the converter and the internal disturbance caused by the uncertainty of system modeling, k and k+1 are the system sampling times, x1(k) is the first output state of the differential tracker at time k, x2(k) is the second output state of the differential tracker at time k, x1(k+1) is the tracking signal at time k+1, x2(k+1) is the differential value of x1(k+1) at time k+1, h is the integration step, is the input speed signal of the differential tracker at time t, r is the speed factor, h0 is the system filter factor, and the fhan() function is the fastest control comprehensive function, and the formula is: ； Among them, z, a, and a0 are all intermediate variables in the calculation process of the differential tracker, x1 is the speed signal, and x2 is the differential value of x1.

4. The UAV propulsion motor control method based on second-order linear ADRC according to claim 3 is characterized in that: Before using the preset extended state observer to observe the actual output motor speed information y, the extended state observer is designed, specifically as follows: Select state variables , the continuous expansion state equation is obtained as: ； Among them, b0 is the compensation factor, u is the control amount, The sum of the external disturbance of the converter and the internal disturbance caused by the uncertainty of system modeling The first-order derivative of , x3 is the total disturbance of the tracking system, is a state variable The first derivative of is a state variable The first derivative of is a state variable The first derivative of According to the control principle of linear ADRC, the extended state observer is established, and the formula is: ； Among them, z1 is the actual value of the motor speed, z2 is the differential value of the motor speed, and z3 is the estimated value of the total disturbance. , , are the gains of the linear ESO, is the first-order derivative of the actual value z1 of the motor speed, is the first-order derivative of the differential component z2 of the motor speed, is the first-order derivative of the estimated value z3 of the total disturbance; The characteristic equation of the linear ESO is: , where s is the S domain; Assume that the poles of the characteristic roots are located at the same position , the gain formula of ESO is simplified to: .

5. The UAV propulsion motor control method based on second-order linear ADRC according to claim 4 is characterized in that: Before using the second-order linear error feedback controller to calculate the speed signal error e1, the speed signal differential difference e2 and the total disturbance z3 of the system, the second-order linear error feedback controller is designed, specifically as follows: The linear PD proportional-derivative combination is used to construct a linear feedback controller, which is expressed as: ,in, is the reference value of the motor speed, is the proportional gain of the PD controller, is the differential gain of the PD controller; Design the second-order linear ADRC controller of the speed loop, the formula is: ; The closed-loop transfer function of the original system is converted into a second-order system without zero points. The formula is: ; The poles of the controller transfer function are chosen to be located at , we get the formula: .

6. A UAV propulsion motor control device based on second-order linear ADRC, characterized in that: include: A data acquisition unit, used for acquiring a target speed r of the second-order linear ADRC system using a differential tracker, and extracting a speed signal extraction value r1 and a speed signal differential value r2 according to the target speed r; An observation unit is used to obtain actual output motor speed information y, and observe the actual output motor speed information y using a preset extended state observer to obtain an observed value z1 of the speed information, an observed differential value z2 of the speed signal, and a total disturbance z3 of the system; an error calculation unit, used for subtracting the observed value z1 of the speed information and the observed differential value z2 of the speed signal from the speed signal extraction value r1 and the speed signal differential value r2, respectively, to obtain a speed signal error e1 and a speed signal differential difference e2; an actual speed calculation unit, for calculating the speed signal error e1, the speed signal differential difference e2 and the system disturbance sum z3 by using a second-order linear error feedback controller to obtain an ADRC control system output value u0, dividing the ADRC control system output value u0 by an observation parameter b, and passing the result through a preset permanent magnet synchronous motor of a vertical flight system of a measured object to obtain an output actual speed y1; The adjustment unit is used to reacquire the latest state of the motor speed signal, obtain the latest state z1, z2, z3 after observation and processing by the expanded state observer, and repeat the above steps until the difference between the actual motor speed and the target speed is less than the preset value.

7. A UAV propulsion motor control device based on second-order linear ADRC, characterized in that: It comprises a memory and a processor, wherein the memory stores a computer program, and the computer program can be executed by the processor to implement the UAV propulsion motor control method based on second-order linear ADRC as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that: A computer program is stored, and the computer program can be executed by a processor of the device where the computer-readable storage medium is located to implement the second-order linear ADRC-based UAV propulsion motor control method as described in any one of claims 1 to 5.

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