Unmanned aerial vehicle attitude control system capable of interfering autonomous immunity and implementation method

Abstract

The invention relates to an unmanned aerial vehicle attitude control system capable of interfering autonomous immunization and an implementation method, and the method comprises the steps: firstly building a multi-source interference model of the unmanned aerial vehicle attitude control system; secondly, designing an inner ring nominal attitude controller, and guaranteeing the attitude tracking performance of the unmanned aerial vehicle under the nominal condition; secondly, designing an outer ring disturbance observer, and estimating and compensating external disturbance and modeling errors borne by the unmanned aerial vehicle attitude control system in real time; and finally, ensuring the robust performance of the closed-loop system by reasonably selecting the parameters of the outer-loop disturbance observer. According to the invention, the structure of the existing composite anti-interference controller is improved. By arranging the interference observer on the outer ring, decoupling design of nominal performance and robust performance is achieved, tailorability of the controller is improved, interference autonomous immunity of an unmanned aerial vehicle attitude control systemis guaranteed, and the problem of unmanned aerial vehicle anti-interference control in tasks such as strategic reconnaissance, earthquake relief work and environment monitoring can be solved.

Description

technical field [0001] The invention relates to an interference autonomous immune UAV attitude control system and an implementation method, which are applied to fields involving UAV anti-interference control such as strategic reconnaissance, earthquake relief, and environmental monitoring. Background technique [0002] In recent years, the development of UAV technology has shown trends such as low cost, miniaturization, integration, diversified task types, and complex operating environment. The deterministic factors have increased significantly, which poses a severe challenge to the autonomous anti-jamming capability of the UAV attitude control system. [0003] The interference factors received by the UAV attitude control system can be roughly divided into three categories: the first category is external disturbances such as gusts and aerodynamic interference; the second category is internal disturbances such as actuator errors and mechanism vibration; the third category is ...

AI Technical Summary

Problems solved by technology

[0005] The technical solution of the present invention is to solve the problem that the accuracy and robustness of the UAV attitude control system are affected by external interference and modeling errors at the same time, and the existing anti-interference attitude control system design method has insufficient tailorability. Disclosed is an unmanned aerial vehicle attitude control system and its implementation method for interference autonomous immunity. The disturbance observer is placed in the outer ring of the compound controller, and the attitude control of the unmanned aerial vehicle containing the nominal attitude controller of the inner ring is selected when the interference observer parameters are selected. The system is regarded as a generalized object, so that the suppression ratio of the corresponding reference output to the interference input is optimal

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