Research On Hover Control Of Quadrotor UAV Based On ADRC And Multi-sensor Fusion

Quadrotor UAVs are highly maneuverable,small in size,easy to operate,and low in price.They are widely used in agriculture,power grids,geological prospecting,and transportation.In terms of systems,the quadrotor UAV has strong coupling,non-linearity,multiple input and multiple output,easy interference and under-drive.Therefore,it is difficult to design the controller,and it is necessary to consider the interference of the peripheral disturbance on the quadrotor UAV.This article aims to improve the antidisturbance of quadrotor UAV,based on multi-sensor fusion and improved autodisturbance-rejection control,under turbulent wind field conditions,study the hovering anti-interference control technology of quadrotor UAV.Firstly,establish a turbulent wind field and a quadrotor UAV model,analyze the stability of the quadrotor UAV under the wind field,and propose an anti-disturbance solution.The turbulent wind field model based on Dryden is established,and three free wind field models are obtained by simulation.The mathematical model of the quadrotor UAV is based on the fuselage and ground coordinate system,the three expressions of attitude are compared: euler angle,rotation matrix and quaternion.In this paper,quaternion is selected as the attitude calculation method.The principles of four flight modes of quadrotor UAV are explained,and the dynamic model of quadrotor UAV is established based on rigid body mechanics.Finally,according to the model established above,the speed distribution and the control scheme of the attitude loop and the position loop are designed.Secondly,design a multi-sensor information fusion scheme.For different sensors,the analysis is carried out from three directions of noise characteristics,error sources and functional characteristics.After obtaining the measurement data of different sensors,based on the Kalman filter and Mahony complementary filtering theory,a multi-sensor fusion framework was designed,and the fusion estimation of the position and velocity information in the height direction and the horizontal direction was studied.The vertical position information fusion adopts a hybrid information fusion system,multi-level hierarchical;the horizontal position information fusion is based on a hybrid fusion system,and the data is calculated separately at the node and the processing center.Then,in terms of control strategy,behavior control adopts active disturbance rejection control algorithm for attitude control,and position control adopts serial PID control for position control.Using Matlab/Simulink to establish a simulation model,conduct simulation experiments,analyze the four-rotor UAV attitude angle change curve,and obtain the anti-interference ability and robustness of the auto disturbance rejection control.Finally,build a four-rotor UAV hardware platform and software experimental system to conduct wind disturbance resistance tests in indoor and outdoor scenarios;multi-sensor fusion enhances hover stability at the information level,and ADRC control enhances wind resistance at the control level Disturbance performance.Compared with the classic serial PID control,the algorithm proposed in this paper is more complicated in terms of overshoot and stability,and more complicated in parameter tuning.In general,the system designed in this paper has a strong suppression of disturbances,indicating that the design of the antidisturbance system is relatively successful.