Steady flight control method of multi-rotor unmanned aerial vehicle

Abstract

The invention provides a steady flight control method of a multi-rotor unmanned aerial vehicle. The method comprises the following steps: 1), obtaining flight real-time operation data of the aerial vehicle through an airborne sensor, performing corresponding analytical processing on kinematic problems of the aerial vehicle through an airborne processor, and establishing an aerial vehicle dynamical model; 2), designing a variable parameter convergence differential neural network solver of the multi-rotor aerial vehicle dynamical model according to a variable parameter convergence differential neural dynamical design method; 3), solving the output control variable of an aerial vehicle motor through the variable parameter convergence differential neural network solver by utilizing obtained flight real-time operation data and target attitude data of the aerial vehicle; 4), transmitting solving results of the third step to an aerial vehicle motor speed regulator to control the motion of the unmanned aerial vehicle. The method is based on the variable parameter convergence differential neural dynamical method, can rapidly and accurately approach the correct resolution of the problems in real time, and can properly solve various time dependent problems, such as matrixes, vectors, algebra and optimization.

Description

technical field [0001] The invention belongs to a stable flight control method of a multi-rotor unmanned aerial vehicle, in particular to a design method of a flight controller based on a variable parameter convergence differential neural network. Background technique [0002] In recent years, the world's unmanned aerial vehicle technology has developed rapidly. Multi-rotor aircraft with vertical take-off and landing, stable hovering, wireless transmission, long-range aerial photography and autonomous cruise capabilities have broad application prospects in military and civil fields. Due to its excellent maneuverability, simple mechanical structure, convenient deployment and simple maintenance, small rotor UAVs are widely used in aerial photography, power inspection, environmental monitoring, deep forest fire prevention, disaster inspection, terrorism prevention and lifesaving, Military reconnaissance and battlefield assessment and other fields. With the wide application of ...

AI Technical Summary

Problems solved by technology

Although the PID controller is easy to use, it is relatively difficult to achieve the desired control effect, and it is difficult to achieve some complex tasks

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