Eesearch On Control Of Micro-quadrocopter Based On ADRC And Hybrid Power Source Technology

In recent years,drones have played an increasingly important role in people's lives.Due to its simple structure,good maneuverability and low manufacturing cost,the small four-rotor aircraft is widely used in military and civilian neighborhoods such as reconnaissance and aerial photography.However,the aircraft cannot fly for a long time when performing tasks.Currently,the batteries carried by the aircraft can only meet tens of minutes,and it is necessary to supplement the electric power and limit its development.To ensure that the four-rotor aircraft can effectively accomplish specified tasks,the design of its structure,energy management system,and control system is particularly important.In this paper,the control problem of quadrotor flight is studied based on the hybrid power supply and the improvement of cascade control combined with ADRC.Study the use of hybrid power sources(super capacitors and batteries)as a source of aircraft energy.For the first time,a hybrid power management strategy is incorporated into the aircraft battery management system to intelligently distribute the output distribution of the hybrid power supply.This can not only improve the control performance of the aircraft,but also improve the aircraft's performance.Reliability and safety meet the needs of the aircraft for greater energy at an instant,reducing the impact of power fluctuations on the battery.For quadrocopters is an underactuated system with six degrees of freedom(position and attitude)and four control inputs(rotor speed),with multivariable,nonlinear,strong coupling,and disturbance-sensitive characteristics.The quadrotor aircraft control system was designed independently of the control technology of the object model.The attitude control uses a cascade controller,in which the main loop controls the angle of the attitude angle and the secondary loop controls the angular speed.Based on the analysis of the traditional PID control theory,based on the cascade PID controller design four-rotor aircraft control system,the simulation of the design of the PID control system,verify the effectiveness of the design control method,improve the traditional PID control,control of the auto disturbance rejection The basic principle of the device is analyzed in depth;the ADRC technique consists of three main components: the tracking differentiator,the extended state observer,and the feedback control based on the extended state observer.Based on the auto disturbance rejection controller,the control system of the quadrotor aircraft is designed.Simulation experiments were carried out on this control method and experiments were carried out on the erected four-rotor aircraft platform.Both the simulation and the experiment verified that the proposed control system can reset the control parameters to achieve the control effect of auto disturbance rejection after external disturbances.In view of the control features of quadrotors,how to improve the control stability,anti-jamming and remote control precision under complicated conditions,to ensure the miniaturization of structure,strong climbing ability,safer energy supply,high flight performance and stability,Greater research significance.