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Improved self-disturbance-resistance quad-rotor unmanned aerial vehicle height control method

A quadrotor unmanned aerial vehicle, height control technology, applied in the direction of controllers with specific characteristics, electric controllers, etc., can solve the problems of few active disturbance rejection controllers, unsuccessful applications, complex nonlinear structures, etc. Overcome the lack of anti-interference ability, excellent robust and stable performance, and improve the effect of anti-interference ability

Active Publication Date: 2019-06-04
中国人民解放军火箭军工程大学
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Problems solved by technology

In recent years, this control method has been applied in the flight control of unmanned aerial vehicles, but there are few ADRC parameter tuning methods at present, and the nonlinear structure is still relatively complex, so it is difficult to apply in practice; in addition, the current application Most of the cases are in UAV attitude control, but there are still no successful applications in height control or horizontal direction

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  • Improved self-disturbance-resistance quad-rotor unmanned aerial vehicle height control method

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Embodiment Construction

[0042] In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention will be further described below in conjunction with accompanying drawings, simulation experiments and actual flight experiments.

[0043] Such as figure 1 As shown, the height control method of a quadrotor unmanned aerial vehicle for improving self-disturbance provided by the present invention is carried out according to the following steps:

[0044]Firstly, based on the mechanism modeling method, the nonlinear dynamic model of the quadrotor UAV in the height direction is established. Its mathematical expression is:

[0045]

[0046] The model takes into account the nonlinear structure of the system and external disturbances, and describes the actual flight conditions more accurately. model, It can be regarded as the control input in the direction of height, and it is also the lift that the four rotors of the UAV can provide, b is the lift coef...

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Abstract

The invention discloses an improved self-disturbance-resistance quad-rotor unmanned aerial vehicle height control method. The method comprises the following steps of step1, based on a mechanism modeling method, establishing a nonlinear dynamic model of a quad-rotor unmanned aerial vehicle height direction; step2, decomposing the nonlinear dynamic model into a linear item and a uncertain item; step3, using a tracking differentiator to obtain a height direction position and a speed expectation value; step4, estimating a disturbance item in a system using a first-order extended state observer; and step5, designing an error feedback control law based on a PD algorithm and feedforward control, and using a disturbance item value estimated by the extended state observer to compensate the uncertain item of the system. An improved tracking differentiator is used to plan a height flight strategy, and an acceleration-uniform speed-deceleration flight mode is constructed so that a quad-rotor unmanned aerial vehicle can rise (or descend) from one height to another height in the shortest time; and a maximum acceleration during flight and a speed of a uniform speed segment can be set autonomously.

Description

technical field [0001] The invention belongs to the field of automatic control of unmanned aerial vehicles, and in particular relates to a method for controlling the height of a quadrotor unmanned aerial vehicle with improved self-disturbance. Background technique [0002] The stability control of UAV is one of the core and key points of UAV system research. Its research not only has great practical significance, but also has far-reaching theoretical significance. [0003] At present, quadrotor drones are quite common in the market, but it is still difficult to design a flight control system with strong anti-interference ability. Especially when considering the situation of UAVs carrying payloads, it is a challenging problem to achieve stable control in the altitude direction. [0004] In the past few decades, various control algorithms have been studied and used in the stability control of UAVs. Commonly used controllers include PID controllers, backstepping controllers, ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B11/42
Inventor 席建祥王成杨小冈王乐贾枭姚辉
Owner 中国人民解放军火箭军工程大学
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