Research On Flight Control Of Rotor UAV Based On Backstepping Sliding Mode

Multi-rotor is simple in structure and very flexibility,that can realize vertical take-off and landing,so it is widely applied in military,civil and scientific research.However,multirotor is easy to be affected in the course of flight,it may lead some problems such as poor anti-interference ability and low control precision.Aiming at the above problems,"X" six rotor is selected as the research object,and controller of the multi-rotor UAV is designed by backstepping sliding mode method,so that UAV system can accurately realize fixed-point flight and stable hovering.The main research work is as follows:1)The mathematical model is established by kinematics and dynamics analysis of multi-rotor,and control distribution model is established according to the transmission characteristics of UAV control signal.In order to simplify the design,controller is divided into two parts: pose controller and control distributor.Changing control distributor can realize flight control of different rotors and make controller more applicable.2)Simulation results show that controller designed by cascade PID can accurately reach the target position and hover stably under ideal conditions.The control curve is smooth without overshoot,which indicates effectiveness of the controller.However,antiinterference ability of cascade PID is weak,it can not resist interference of the external environment in the actual flight.In order to realize UAV flight,controller is designed by backstepping method and sliding mode variable structure.3)Controller is designed by backstepping sliding mode method.Position and attitude of multi-rotor are controlled under condition of set interference,and compared with cascade PID under same interference.Simulation results show that backstepping sliding mode controller can control multi-rotor to hover stably and accurately reach the target point under interference.Especially in the presence of large step interference,compared with cascade PID,backstepping sliding mode method shows certain superiority in anti-interference ability and response speed.Figure 32;Table 10;Reference 60...