Research On Wind Resistance Control Technology Of Quadrotor Unmanned Aerial Vehicle

With the development of technology in recent years,the integration of quadrotor Unmanned Aerial Vehicle(UAV)is getting higher and higher and the capacity of load is getting stronger.In addition,the advantages of its small size and high flexibility,especially in region such as canyons,seas,etc.the quadrotors play an important role in search,rescue and resource exploration,but these regions are often accompanied by strong winds,it is a great challenge to the stability of the quadrotor.Therefore,this paper researches the anti-strong wind control technology of quadrotor UAV.Firstly,the dynamic model of quadrotor is researched.Considering the interference of strong winds,based on the Dryden turbulence model and the constant wind field,the turbulence model of strong wind is analyzed.Based on the theory of Newton-Euler equation,the force of quadrotor is analyzed.The disturbance of external strong wind is introduced into the modeling process of quadrotor.Establishing a dynamic model of quadrotor UAV with impact factor of wind speed disturbance,which is the foundation of the anti-strong wind controller design.Secondly,the design of Proportion Integration Differentiation(PID)with feedforward compensation and Linear Quadratic Regulator(LQR)controllers are researched.Based on the dynamic model of quadrotor UAV with wind speed disturbance factor and the error between the expected state and the current state,the PID controller with feedforward compensation and the LQR controller are designed.The MATLAB simulation platform is built to analyze the responses.Next,the problem of fuzzy sliding mode variable structure anti-strong wind controller design is researched.The state variables of the quadrotor are divided into two groups,based on the dynamics model with wind speed disturbance factor,the fully controlled sliding mode variable structure controller and the joint controlled sliding mode variable structure controller are designed.The MATLAB simulation platform is built to compare the responses of PID controller with sliding mode controller.Then,the reason of the chattering of the sliding mode variable structure controller is analyzed,and the fuzzy control is proposed to reduce the chattering of sliding mode.The fuzzy sliding mode variable structure controller is designed and the responses are analyzed by simulation platform.Finally,the problem of the uncertainty approximation of the quadrotor model is researched.Based on the fitting ability of Radical Basis Function(RBF)neural network,an adaptive RBF neural network model is established.The weight function is introduced when constructing the Lyapunov function,then we can obtain the adaptive law of weight function by solving the Lyapunov stability equation.By adjusting the adaptive law of the weight function and the coefficients of the Gaussian function,we can obtain the optimal parameters of the RBF neural network.The simulation platform is established to verifies the ability of the output of the RBF neural network about approaching the uncertainty of quadrotor model.