Research On Control Algorithm Of Quadrotor In Wind Interference Environment

In order to improve the control stability and disturbance rejection ability of the quadrotor in the natural wind field,a dynamic modeling technology and anti-interference control algorithm have been developed in this thesis.And,the mathematical simulation,SITL simulation and real flight tests are conducted to verify the effectiveness of the proposed algorithm,which is of great significance in improving the capacity of resisting disturbance for the quadrotors.The main contents are as follows:1.Quadrotor control system model in wind field interference environment is established.Firstly,the structure and principle of the quadrotor are explained,and the structure of its control system is described;secondly,the natural wind field model has been built and introduced as the interference of the control system.Then,the dynamic model of the quadrotor is established in terms of the mechanism analysis.Furthermore,a simulation platform in consideration of propagation error from the inertial measurement unit and the wind interference is designed for the further experiments.2.the PID-Active Disturbances Rejection Control algorithm(ADRC)algorithm is designed.Firstly,the cascade PID control algorithm is derived based on the flight dynamics model and PID control principle of the quadrotor;secondly,in order to address the problem of low attitude control accuracy and large overshoot of the cascade PID control algorithm in the wind interference,the PID-ADRC control algorithm is proposed,which combines the attitude ADRC algorithm in position loop of the PID controller;Finally,the cascade PID control algorithm and PID-ADRC control algorithm are compared through mathematical simulation.The simulation results demonstrate that the PID-ADRC control algorithm has superior performance of small overshoot and high attitude stability in the gust interference environment.3.Quadrotor flight experiments have been implemented.In order to verify the effectiveness of the PID-ADRC control algorithm,an SITL simulation experiment and outdoor flight experiment suffering gust in different experimental scenarios are designed,in which the cascade PID control algorithm and PID-ADRC control algorithm are tested.The experimental results show that when the quadrotor is interfered by the outdoor three-level wind,the position swing amplitude during the cascade PID control algorithm control process is 1.04 m,and the position swing amplitude during the PID-ADRC control algorithm control process is 0.63 m.It is illustrated that the PID-ADRC control algorithm can improve position control stability and anti-interference ability of quadrotor in the wind field interference environment.