Research On Anti-interference Control Of Quadcopter UAV

As a typical strong-coupling,underactuated rotary wing UAV,the quadcopter UAV is easily interfered by external factors during flight.And with the development of drones,quadrotor drones are also given more expectations by people,such as drone delivery,automatic drone inspection.In these application areas,drones will always be affected by external interference sources,which requires drones to have stronger anti-interference capabilities.Active disturbance rejection control technology itself does not rely on the precise mathematical model of the controlled object,but through real-time observation and compensation of system disturbances which greatly enhances the resistance to internal and external disturbances.Therefore,the application of active disturbance rejection control technology in attitude control of quadrotor UAV is studied in this paper.This thesis first introduces the flight mechanics principle of the UAV,and establishes the nonlinear dynamic model of the quadcopter UAV,which will be used in the simulation model of the attitude control of the quadcopter UAV.According to the mathematical model of the quadcopter UAV,a simulation model of the UAV is built in MATLAB / SIMULINK.The attitude of the UAV is controlled by traditional PID controller and linear active disturbance rejection controller,respectively,the traditional PID controller and LADRC controller are used to control the attitude angle of the UAV,and the parameters of the PID controller are optimized through ITAE performance indicators.Then,the dynamic response indicators such as overshoot and adjustment time are used for quantitative comparison to verify the superiority of the LADRC controller in anti-interference ability compared with the PID controller.Finally,in order to verify the effectiveness of the LADRC control algorithm in the attitude control of the quadcopter UAV,a software and hardware experimental platform for the quadcopter UAV was built.Based on this experimental platform,this thesis transplants the LADRC control algorithm to the DJI Onboard SDK that supports the STM32F407VGT6 discovery board,and conducts the ‘bake four axes’ experiment and the immunity experiment to verify the practicability of the LADRC controller’s anti-interference ability.