Unmanned aerial vehicle rolling stabilization method adopting low-cost inclinometer for measurement

Abstract

The invention relates to an unmanned aerial vehicle rolling stabilization method adopting a low-cost inclinometer for measurement. Firstly, a rolling angle instruction signal is set according to a flight mission, and a rolling angle signal of an aircraft is measured by installing a voltage type low-cost inclination angle MCA420 sensor. An error signal is obtained by comparing a rolling angle signal with a rolling angle instruction signal, two paths of integral signals are obtained through linear integration and Sigmoid nonlinear integration, meanwhile, a differential lag signal of the rollingangle signal is constructed, a synchronous interference observation system of a rolling channel is constructed, and an interference real-time observation signal of the rolling channel is obtained. Andfinally, the error signal, the two paths of error integral signals, the error differential lag signal and the interference observation signal are superposed to form a final rolling rudder deflectionangle instruction signal, thereby realizing stabilization and control tasks of the rolling channel of the unmanned aerial vehicle. The method has the advantages that only one goniometer is adopted, sothat the method is simple and economical.

Description

technical field [0001] The invention relates to the field of flight control and guidance of unmanned aerial vehicles, in particular to a roll stabilization method for unmanned aerial vehicles measured by a low-cost inclinometer. Background technique [0002] At present, most of the roll channel control of the aircraft adopts the traditional proportional differential control method, which needs to use the rate gyroscope to measure the roll angle rate of the aircraft, and also needs to use the attitude gyroscope to measure the roll angle of the aircraft. This method is similar to the attitude stabilization control method of the pitch and yaw channels, and has high reliability. However, since the roll channel has simpler dynamic characteristics than the pitch and yaw channel for most aircraft, it can be simplified to a first-order system. Therefore, for low-cost unmanned aerial vehicles, the measurement of the rate gyroscope can be omitted, and the system can still ensure that...

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Problems solved by technology

[0004] The purpose of the present invention is to provide a rolling stabilization method for unmanned aerial vehicle measured by a low-cost inclinometer, and then at least to a certain extent overcome the problem of high cost of unmanned aerial vehicle roll channel control due to the limitations and defects of related technologies

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