Computer Science ›› 2020, Vol. 47 ›› Issue (3): 237-241.doi: 10.11896/jsjkx.190200371

• Artificial Intelligence • Previous Articles     Next Articles

Anti-disturbance Control Algorithm of UAV Based on Pneumatic Parameter Regulation

ZHAO Min,DAI Feng-zhi   

  1. (School of Electronic Information and Automation, Tianjin University of Science&Technology College, Tianjin 300202 China)
  • Received:2019-02-27 Online:2020-03-15 Published:2020-03-30
  • About author:ZHAO Min,born in 1992,master.Her main research interests include artificial control,information processing and Internet of things technology. DAI Feng-zhi,born in 1971,Ph.D,associate professor,master supervisor.His main research interests include control engineering.

Abstract: The control stability of UAV flight caused by aerodynamic damping disturbance is not good.At present,the aerodynamic parameter adjustment method of airfoil section is used to control UAV anti-disturbance,and the parameters such as torsion angle and vibration direction are taken as constraint index.The ambiguity of the parameter adjustment is large,and the stability of the pneumatic attitude parameter adjustment is not good.The anti-disturbance control algorithm of UAV based on aerodynamic parameter adjustment was proposed.According to the flight condition of UAV,the Aeroelastic coupling equations corresponding to each modal were constructed,in the velocity coordinate system and body coordinate system.The flight dynamics and kinematics model of UAV was constructed in the three-dimensional coordinate system of ballistic coordinate system.Kalman filtering method is used to realize the fusion adjustment of flight parameters and small disturbance suppression of UAV.The terminal position re-ference model is used to design the flight trajectory of UAV.The linearization of the dynamic model is realized in the Kalman filter prediction model,and the Aeroelastic modal parameter identification method is adopted.The attitude control is used as the inner loop to obtain the state feedback adjustment parameters of the position loop.The lift coefficient and torque coefficient of the UAV are used as the aerodynamic inertia parameters to adjust the stability of the flight attitude.The optimization design of anti-disturbance control law for UAV is realized.The pitch angle,roll angle and heading angle of the aircraft are collected and analyzed in Matlab as the original data.The simulation results show that the proposed method has a good stability in the anti-disturbance control of UAV.The accuracy of on-line estimation of aerodynamic parameters is high,the heading angle error is reduced by 12.4%,the anti-disturbance ability is improved by 8 dB,the convergence time is shortened by 0.14s,and the flight immunity and flight stability of UAV are improved.It has good application value in UAV flight control.

Key words: Anti-disturbance control, Dynamic model, Dynamic parameter adjustment, UAV

CLC Number: 

  • TP242
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