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Auto-disturbance-rejection automatic flight control method for four-rotor aircraft

An automatic flight control, quadrotor aircraft technology, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve the problem of poor autonomous flight control effect of quadrotor

Inactive Publication Date: 2012-12-19
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to solve the problem that the existing four-rotor autonomous flight control effect is not good, and to propose an active disturbance rejection flight control method to improve the flight quality of the four-rotor UAV

Method used

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  • Auto-disturbance-rejection automatic flight control method for four-rotor aircraft

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example 1

[0097] The hardware part of the quadrotor flight control system designed according to the method of the present invention is as follows: Figure 4 As shown, it includes main control unit, sensor module, wireless communication module and motor control module. As the carrier of the entire control system, the quadrotor mainly includes a four-axis rack, two pairs of motors and ESCs, and an autopilot controller.

[0098] Main control unit: AVR microcontroller 1 is used as the main control unit of the autopilot controller. The data processing and active disturbance rejection control law of the whole system are built on this basis.

[0099] Sensor module: The sensor module mainly realizes attitude collection, location information collection, and measurement of barometric altitude and magnetic heading. The three-axis gyroscope 13 is used to measure the current three-axis angular velocity value of the aircraft, and the three-axis accelerometer 14 is used to measure the current three-...

example 2

[0111] The ADRC technology is applied to the four-rotor suspension system developed by Quanser to verify the attitude adjustment. The closed-loop structure frame of the whole system Figure 9 Shown: the attitude angle is measured by the encoder on the suspension system 1, fed back to the data acquisition / processing board 2, and the control program 4 run by the data acquisition / processing board 2 (the frame diagram of the control program is given) The control signal is obtained, amplified by the power amplifier 3, and then drives the four propellers on the suspension system 1 to change their rotational speed to adjust the attitude. The attitude adjustment curve is as Figure 10 , Figure 11As shown, the control effect is compared with the two nonlinear control methods commonly used in the current quadrotor control simulation, the backstepping method and the sliding film control. The experimental results show that the ADRC has better signal tracking and stabilization effects. ...

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Abstract

The invention relates to a method for autonomous flight of a four-rotor unmanned aircraft by using an auto-disturbance-rejection control technique, belonging to the automatic control field of unmanned aircraft. The method comprises the steps of: respectively making differences between an output xld after arranging a transient process of a target value and an output of an extended state observer, and differential of the output xld and the output of the extended state observer respectively, and then carrying out nonlinear conversion on two differences to obtain a nonlinear feedback control law u0; with regard to an auto-disturbance-rejection controller with three attitude angles and vertical displacement, making difference with feedback of the extended state observer to obtain an output as an input of a corresponding channel of a four-rotor system and the extended state observer; and with regard to an auto-disturbance-rejection controller with forward and side displacements, directly using u0 as the input of the corresponding channel of the four-rotor system and the extended state observer, and feeding back the actual value to the extended state observer after the corresponding channel of the four-rotor system responses, so as to form an close-loop auto-disturbance-rejection controller. The method is strong in capacity of resisting disturbance, and the problems of difficulty in modeling of the four-rotor system, environmental diversity in the flight process, and frequent interferences are effectively solved.

Description

technical field [0001] The invention relates to a method for realizing the autonomous flight of a four-rotor unmanned aerial vehicle by using an active disturbance rejection control technology, and belongs to the field of automatic control of the unmanned aerial vehicle. Background technique [0002] Quadrotor drones have incomparable advantages over fixed-wing drones: they can adapt to various environments; they have autonomous take-off and landing capabilities, and are highly intelligent; they can fly in various attitudes, such as hovering in the air, flying forward, and flying sideways and inverted etc. These advantages make the quadrotor aircraft have important military and civilian values, and it is especially suitable for flying in near-ground environments (such as indoors and jungles, etc.), in atmospheric monitoring, search and rescue, aerial photography monitoring, resource exploration, power line monitoring, and forest fire prevention. It has a wide range of appli...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
Inventor 耿庆波胡琼兰天费庆伍清河
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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