Anti-interference unmanned aerial vehicle control method and system

Abstract

The invention relates to an anti-interference unmanned aerial vehicle control method and system. The method comprises the steps: constructing a three-axis rotation angle proportional-integral observer containing an interference term; according to the three-axis rotation angle proportional-integral observer and the unmanned aerial vehicle remote control accelerator instruction value, determining a sliding mode attitude controller used for outputting attitude control quantity; inputting the expected three-axis attitude angle into the sliding mode attitude controller to obtain an attitude control quantity; according to the attitude control quantity, utilizing a relation function to obtain a pulling force to be provided by each motor of an unmanned aerial vehicle to a rotor wing; and determining PWM waves for controlling each motor according to the pulling force to be provided by each motor of the unmanned aerial vehicle to the rotor wing. According to the invention, the interference term is introduced into the proportional integral observer to increase the anti-interference capability of the unmanned aerial vehicle, and the sliding mode attitude controller can increase the execution time rate of the unmanned aerial vehicle due to the exponential convergence characteristic of the sliding mode attitude controller, so that the stability of the system is improved.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to an anti-jamming unmanned aerial vehicle control method and system. Background technique [0002] UAVs are controlled by wireless remote control devices or their own programs, rely on their own power, can carry various equipment, perform multiple tasks, and can be used repeatedly. UAVs have advantages such as low cost and low loss. , zero casualties, reusable and high mobility, it has been increasingly widely used in various industrial and consumer fields. [0003] Since the essence of the quadrotor UAV is to distribute power by four brushless DC motors to achieve the purpose of UAV attitude control, and the UAV has six degrees of freedom, as long as one of the four motors changes, it will lead to multiple degrees of freedom. This brings challenges to UAV attitude control and anti-jamming. Although traditional PID control can control UAVs to complete various acti...

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Problems solved by technology

[0003] Since the essence of the quadrotor UAV is to distribute power by four brushless DC motors to achieve the purpose of UAV attitude control, and the UAV has six degrees of freedom, as long as one of the four motors changes, it will lead to multi-degrees of freedom. This brings challenges to UAV attitude control and anti-jamming. Although traditional PID control can control UAVs to complete various actions simply and efficiently, its anti-interference ability is very weak and is easily affected by the outside world. environmental impact

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