A control method and system for an anti-jamming unmanned aerial vehicle

Abstract

The invention relates to an anti-interference UAV control method and system, constructing a three-axis rotation angle proportional-integral observer including interference items; The synovial membrane attitude controller that outputs the attitude control amount; input the desired three-axis attitude angle into the synovial membrane attitude controller to obtain the attitude control amount; according to the attitude control amount, use the relationship function to obtain the required value of each motor for the rotor of the UAV. The pulling force; according to the pulling force provided by each motor on the drone to the rotor, determine the PWM wave to control each motor. The present invention introduces interference items into the proportional integral observer to increase the anti-interference ability of the UAV, and the sliding film attitude controller can increase the speed of the execution time of the UAV due to its exponential convergence characteristics, thereby increasing the stability of the system.

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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