Design And Implementation Of Qball UAV Control System Based On Active Disturbance Rejection Technology

Qball drone is a quadrotor drone which can flexibly flight.At first,the current:research status of quadrotor drone and the development history of active disturbance rejection technology are introduced.At the same time,linear active disturbance rejection controllers are designed for Qball drone.For some special situations and needs,controllers have been improved accordingly.In the end,simulation experiments and physical experiments are implemented.The outcomes show that the controller designed in this thesis can control Qball drone well and meet the needs of some special situations.It improves the performance of Qball drone control system and enhances its robustness.This thesis mainly contributes to the following four aspects.Firstly,the development situation of drone is introduced,and the current research status is described.According to the structural characteristics of Qball drone,a Qball drone dynamic model is established.Secondly,the attitude controller of Qball drone based on linear active disturbance rejection controller(LADRC)is designed.In order to achieve stable control effect,a Qball drone position controller based on tracking differentiator-linear active disturbance rej ection controller(TD-LADRC)is designed for the case of sudden change in the given value of outer loop.The simulation outcomes show that TD-LADRC can achieve stable control eff’ect.TD-LADRC controller effectively reduces the overshoot of the system,improves the rapidity of the system,and has wider parameter adaptability and stronger robustness.Thirdly,considering that the yaw angle of Qball drone is provided by reverse torsion,an anti-saturation yaw attitude controller based on TD-LADRC is designed,which weakens the overshoot caused by speed saturation to a certain extent.However,with the introduction of non-linear module in TD,the control structure becomes more complex,so the LADRC of yaw attitude based on observer compensation and error compensation is designed.Since the latter introduces the compensation coefficient,the flexibility of the control system is improved.The simulation outcomes show that the anti-saturation controller based on error compensation has better degree of freedom and practical effect.Fourthly,considering the practical effect of Qball drone control system,the controller is further improved and the control system based on PD-LADRC is designed.The experiments are carried out in the Qball platform,and the expected outcomes are achieved.Finally,the work of the full thesis is summarized,and the future work is analyzed.