A UAV Attitude Control System and Implementation Method of Interference Autonomous Immunity

Abstract

The present invention relates to an unmanned aerial vehicle attitude control system and its implementation method that interfere with autonomous immunity. Firstly, a multi-source interference model of the unmanned aerial vehicle attitude control system is established; Attitude tracking performance under weighing conditions; then, the outer loop disturbance observer is designed to estimate and compensate the external disturbance and modeling error suffered by the UAV attitude control system in real time; finally, by reasonably selecting the parameters of the outer loop disturbance observer , to ensure the robust performance of the closed-loop system. The invention improves the structure of the existing compound anti-jamming controller, and realizes the decoupling design of nominal performance and robust performance by placing the disturbance observer in the outer ring, increases the tailorability of the controller, and ensures that no one The interference autonomous immunity ability of the UAV attitude control system can solve the UAV anti-jamming control problem in strategic reconnaissance, earthquake relief, environmental monitoring and other tasks.

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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