Active Disturbances Rejection Attitude Control Of Quadrotor UAV

With the advantages of simple structure and good motion performance,quadrotor aircraft becomes the most common and most popular rotor aircraft,it has broad application prospect and research value in the field of military and civilian.Now,PID control method is widely used in attitude control and position control.PID control method could meet the basic need of flight control,but has a little insufficient for the complex disturbance and high control requirements.As active disturbance rejection controller(ADRC)has the unique advantage of strong anti-interference ability,this paper applies the ADRC algorithm to the control of quadrotor aircraft.Firstly,this paper studies the basic structure and flight mode of quadrotor aircraft,the working principle of quadrotor are analyzed specifically,such as attitude calculation,position estimation,attitude control and position control,these work lay a foundation for building the aircraft model and designing the controllerSecondly,this paper establish the mathematical model of quadrotor aircraft by using propeller aerodynamics and Newton-euler equation,the nonlinear simulation model and ADRC module are set up in MATLAB/Simulink.Aiming at weakening the mutual influence between three attitude control channels and solving the decline of height in large angle flight,we add the decoupling module and slope compensation module.Compared with PID,ADRC shows certain superiority in the test of stability,track and immunity,this also verifies the effectiveness of ADRC algorithm in flight control.At last,through choosing APM flight control board,motor,ESC,and battery,the quadrotor aircraft experiment platform is formed,then based the APM flight control program structure,the ADRC flight control algorithm is wrote in attitude control library by using professional development tool.In the test of moorage,quadrotor aircraft complete the roll,pitch and turn debugging.In the experiment of flying,quadrotor aircraft achieve the hover flight.The results show the superiority of the active disturbance rejection control in the control of the rotor aircraft.