Application Of Active Disturbance Control Technology In Quadrotor

Quadrotor aircraft has a wide range of applications,but its dynamic model is more complicated.It has the characteristics of under-actuated,strongly coupled,nonlinear,parameter uncertainty and un-modeled disturbance,which makes flight control difficult.Active disturbance rejection control(ADRC)technology does not depend on the precise mathematical model of the controlled object.It can observe and compensate system disturbances in real time and realize decoupling control.Therefore,this paper studied the application of ADRC technology in order to increase aircraft's attitude control quality.In this paper,the structure of quadrotor is firstly studied,the flight principle of quadrotor is introduced,the dynamics model of quadrotor is analyzed in detail,which lays the foundation for the simulation and design of attitude control of quadrotor afterwards.Based on an overview of ADRC technology,this paper also introduces a bandwidth linear ADRC controller.A series of researches have been done on the parameter tuning of the ADR controller,including particle swarm optimization algorithm is used to optimize parameters of bandwidth ADRC,and analysis the influence of the parameters on the control system.Further parameter optimization is carried out based on expert control.Finally,the parameter setting workflow of a complete linear ADRC controller is summarized.Based on the conclusion of the workflow of parameter setting,simulation experiments are carried out for different controlled objects to verify the effectiveness of the parameter setting method of linear ADRC.According to the mathematical model of quadrotor,this paper builds the simulation model of quadrotor in MATLAB/Simulink and designs three control schemes of cascade PID,nonlinear ADRC and linear ADRC.In order to verify the effectiveness of linear ADRC in quadrotor UAV attitude control,an actual test platform is set up.Based on this experimental platform,this paper transplants linear ADRC algorithm into the posture control database of PX4 native firmware,and the moratorium test,hovering experiment and anti-jamming experiment are carried out.