Research On A Four-rotor UAV Control System Based On Auto Disturbance Rejection Algorithm

With the continuous development of science and technology,drone technology is being rapidly applied to military and civilian fields,and drones are used in many industries.Small quadrotor drones are used in many fields due to their simple structure,small fuselage size,vertical take-off,and hovering in the air.It has become a research hotspot at home and abroad.The flying attitude of the small four-rotor UAV is complicated and changeable,so a stable flight control system is extremely important.The factors that affect the flight control of small four-rotor unmanned aerial vehicles include control strategies and attitude resolution.Aiming at the current small quadrotor UAV to obtain more accurate attitude in attitude calculation and improve the dry anti-interference performance of the quadrotor,this paper proposes the design of the control system of the quadrotor UAV based on the auto-disturbance algorithm.This paper mainly completes the design and implementation of an auto disturbance rejection algorithm control system for a small four-rotor platform.The specific work is as follows:First of all,this paper summarizes the domestic and foreign research status of the four-rotor UAV control system in recent years for a small four-rotor UAV,and clarifies the purpose of the auto disturbance rejection controller studied in this paper.The overall requirements of the platform are analyzed,and the design of the platform functions and software control platform is completed;based on the structure of the small four-rotor UAV body,an accurate dynamic model is established;Then,the attitude of the quadrotor drone is solved,the measurement principles of accelerometer,gyroscope,magnetometer and barometer are introduced.For the data fusion of the sensor,the extended Kalman filter algorithm,complementary filter algorithm and four The second-order complementary filtering algorithm for arity.Comparing the three pose solving algorithms,the simulation experiment shows that the quaternion-based second-order complementary filtering algorithm can better fuse the data of multi-sensors with smaller errors.Secondly,according to the dynamic model of the four-rotor UAV,an attitude controller and a position controller are designed.The inner loop control uses an auto-disturbance algorithm for attitude control,and the outer loop control uses PID control for position control.The particle swarm optimization algorithm is used to adjust the parameters of the auto disturbance rejection algorithm.And build a simulation model in Matlab/Simulink to carry out simulation experiments.Analyze the change curve of the attitude angle of the four-rotor UAV,and get the anti-interference ability and robustness of the auto-anti-interference algorithm.Finally,a four-rotor UAV experiment platform was built to carry out the actual flight test of the four-rotor UAV.A comparative experiment between the auto disturbance rejection controller designed in this paper and the cascade PID controller is carried out,and it is verified that the auto disturbance rejection controller has better anti-interference ability and stable performance than the traditional cascade PID controller.