Design And Simulation Of ADRC For Fourrotor Aircraft System Based On Dynamic Inversion

In recent years,the four rotor aircraft,which has been studied by major technology companies and universities,has gradually entered people's field of vision with its small and flexible features.With its own advantages,four rotors are widely used in practice,such as military,civil,shooting,detection and so on.However,due to the nonlinear,underactuated and strong coupling of the four rotors,the research on the control algorithm of the four rotors is still a hot spot.This paper studies this problem in depth,which has important theoretical significance and practical value.First of all,this paper introduces the related technology and algorithm theory of the four rotor vehicle,analyzes its working principle,and establishes its dynamic model by calculating the six degree of freedom equation of the four rotor by using the conversion matrix between the body and the space coordinate system.Then,based on the deep analysis of the control idea of dynamic inversion,a four rotor control algorithm based on dynamic inversion is proposed,which is verified by simulation in MATLAB environment,then compared with the traditional PID controller,from the simulation results,the design method is superior to the traditional PID in terms of system stability,but the effect of overcoming interference is not obvious and needs further improvement.Thirdly,in order to make the control algorithm automatically adjust the control law under different working conditions,the adaptive control idea is introduced,and the model reference adaptive control is added on the basis of the dynamic inverse controller,the four rotor adaptive control algorithm based on the dynamic inverse is proposed,and the stability and effectiveness of the controlalgorithm are solved by MATLAB simulation.Finally,in order to realize the control function of the four rotor vehicle and verify the control algorithm,the hardware framework and software flow are designed,including the function realization of data acquisition,wireless communication,attitude calculation,etc.,and then the flight test is carried out to further verify the effectiveness of the algorithm.