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Unmanned aerial vehicle course angle error compensation method and system based on active disturbance rejection control

A technology of active disturbance rejection control and active disturbance rejection controller, which is applied in the direction of control/adjustment system, attitude control, non-electric variable control, etc., can solve the problem that the quadrotor drone's heading cannot be accurately determined, and the drone's heading angle error and other problems, to achieve the effect of improving anti-interference ability and control accuracy, and improving the state feedback rate

Inactive Publication Date: 2020-06-05
CENT SOUTH UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Aiming at the above-mentioned technical problems in the related art, the present invention proposes a UAV course angle error compensation method of ADRC to solve the problem that the course of a quadrotor UAV cannot be accurately determined under magnetic field interference

Method used

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  • Unmanned aerial vehicle course angle error compensation method and system based on active disturbance rejection control
  • Unmanned aerial vehicle course angle error compensation method and system based on active disturbance rejection control
  • Unmanned aerial vehicle course angle error compensation method and system based on active disturbance rejection control

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Embodiment 1

[0090] Reference attached figure 2 , the present embodiment provides an active disturbance rejection control UAV heading angle error compensation system, the system comprising:

[0091] The first acquisition unit (not shown in the figure): used to acquire the heading angle;

[0092] The quadrotor drone is equipped with various sensors, such as an electronic compass, which can be used to acquire the heading angle of the quadrotor drone in real time; in this case, the first acquisition unit acquires the heading angle from the sensors.

[0093] In another case, the data output by the sensor of the quadrotor drone cannot directly represent its heading angle, and a Kalman filter needs to be used to process the data output by the corresponding sensor to calculate the heading angle of the drone. In this case , what the first acquisition unit acquires is the heading angle of the UAV obtained after processing by the Kalman filter.

[0094] The first active disturbance rejection cont...

Embodiment 2

[0131] The embodiment provides a method for compensating the heading angle error of an unmanned aerial vehicle with ADRC, which includes the following steps:

[0132] S1. Obtain the heading angle of the drone;

[0133] S2. Obtain the new heading angle of the drone through the ADRC;

[0134] The active disturbance rejection controller includes the following structure:

[0135] A first active disturbance rejection controller, a second active disturbance rejection controller, the output of the first active disturbance rejection controller is used as the input of the second active disturbance rejection controller;

[0136] Wherein the first active disturbance rejection controller includes a first tracking differentiator and a first extended state observer;

[0137] The second active disturbance rejection controller includes a second extended state observer;

[0138] The first extended state observer and the second extended state observer are linear observers when the tracking e...

Embodiment 3

[0159] Reference attached Figure 6 , this embodiment provides a schematic structural diagram of a UAV heading angle difference compensation device 20 for active disturbance rejection control. The UAV heading angle difference compensation device 20 for active disturbance rejection control in this embodiment includes a processor 21 , a memory 22 and a computer program stored in the memory 22 and operable on the processor 21 . When the processor 21 executes the computer program, it implements the steps in the above-mentioned embodiment of the method for compensating the UAV heading angle difference by ADRC, such as steps S1 and S2. Alternatively, when the processor 21 executes the computer program, it realizes the functions of the modules / units in the above-mentioned device embodiments, for example, the first acquiring unit.

[0160] Exemplarily, the computer program can be divided into one or more modules / units, and the one or more modules / units are stored in the memory 22 and...

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Abstract

The invention discloses an unmanned aerial vehicle course angle error compensation system based on active disturbance rejection control. The system comprises a first acquisition unit used for acquiring course angles, a first active disturbance rejection controller unit and a second active disturbance rejection controller unit, wherein the first active disturbance rejection controller unit comprises a first tracking differentiator and a first extended state observer; the first extended state observer is a linear observer when the tracking error of the first extended state observer is greater than a preset value; when the tracking error is smaller than or equal to a preset value, a nonlinear observer is adopted; the second active disturbance rejection controller unit comprises a second extended state observer; the second extended state observer is a linear observer when the tracking error of the second extended state observer is greater than a preset value; and when the tracking error issmaller than or equal to the preset value, a nonlinear observer is adopted. According to the invention, the anti-interference capability and the control precision of the course angle of the quad-rotor unmanned aerial vehicle are improved.

Description

technical field [0001] The invention relates to the technical field of attitude control of a quadrotor UAV, in particular to a method for compensating a course angle error of a quadrotor UAV with active disturbance rejection control. Background technique [0002] Copper electrolysis is the last step in the copper smelting process. During the electrolysis process, the cathode and anode plates are closely arranged in the electrolytic cell. Due to reasons such as the plate, electrolyte, anode slime, etc., the cathode plate grows rapidly locally, forming raised copper particles. , causing the cathode and anode plates to make impurity metals also adsorb to the cathode plate, resulting in a short circuit of the plates, and the short circuit part is severely heated. Four-rotor drones are widely used due to their flexible movement and high efficiency. Therefore, they can be equipped with infrared imagers as inspection drones to reflect the temperature distribution of copper electrol...

Claims

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Application Information

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IPC IPC(8): G05D1/08
CPCG05D1/0808
Inventor 李繁飙朱昱鑫阳春华周灿
Owner CENT SOUTH UNIV
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