Research And Implementation Of The Side Push UAV Control System

The side push control system as the mobile working platform,was suspended in the dynamic environment of the four-rotor unmanned aerial vehicle(UAV),the air disturbance environment and system coupling influence the output precision of the control system.In order to reduce the effect of space disturbance on the steady output of the control system,a novel control strategy was proposed.The new strategy takes the directly measured angle as the known observe objects to observe the disturbance thrust,and proportionally feedforward to the PID position controller to weaken the influence of disturbance and achieve adaptive disturbance rejection of PID controller.Analysis the coupling characteristics of the side push control system,the separately control of the pitch and deflection were realized by two ways of state feedback and feedforward compensation.In the MATLAB simulation,the final decoupling control could be realized by the two methods.Take the control of the system in the pitch direction as an example,compared the controlling effect of the position PID controller and the cascade PID controller to the system.The disturbance observer model was derived by theoretical derivation,and the correctness of the design method was verified in Simulink.The observed disturbance thrust wasn’t over-tuned and the observation speed was fast.The simulation proves that the feedforward compensation strategy can better suppress the system position fluctuation caused by the changeable disturbance thrust than the simple PID controller,with smaller angle fluctuation and faster adjustment time.The mechanical structure and hardware circuit had been set up to debug the side push control system.In order to obtain the accurate attitude information of the system,the attitude Angle of the system was obtained through the method of complementary filtering attitude.And through the contrast experiment of the simple position PID and cascade PID controller,and verified the cascade PID controller can make the system have faster response speed,smaller thrust fluctuation and better resistance to disturbance thrust performance.