Research On Anti-wind Disturbance Method Of Quadrotor UAV

With the continuous advancement of science and technology in recent years,quadrotor unmanned aerial vehicle(UAV)has achieved rapid development.Quadrotor UAVs are rapidly being used in various fields such as life and military.At the same time,quadrotor UAVs are highly integrated and small in size.The characteristics of strong load capacity and high flexibility are widely used in areas that are difficult for humans to reach,such as remote sensing monitoring,aerial photography,and post-disaster rescue,but these areas are usually accompanied by strong wind interference.The influence of wind is mainly reflected in the attitude control of the quad-rotor UAV,and it is a huge test of the stability of the quad-rotor UAV.Therefore,it is very important to study the anti-wind disturbance and stability of the quadrotor UAV.This paper explores and analyzes the anti-wind disturbance and stability control of quadrotor UAVs,designs a dual-loop proportion integral differential(PID)controller with feedforward compensation,and conducts simulation experiments to verify its performance under external wind disturbance conditions.The stability and effectiveness of the controller.The research content mainly includes:(1)First,the fuselage structure of the four-rotor UAV is analyzed,the flight principle is described and analyzed,the body coordinate system and the geographic coordinate system are established according to the principle,and the coordinate rotation matrix of the body coordinate system and the geographic coordinate system is deduced here.Based on the Newton Euler equation as the basic framework,the quad-rotor UAV is analyzed in terms of dynamics and kinematics,and the dynamics and kinematics nonlinear mathematical model of the quad-rotor UAV is deduced.(2)Secondly,the main influence of the UAV on the stability control during the flight is the disturbance of the wind,so the wind speed change characteristics are analyzed,the corresponding wind field model is established,and the dynamic equation is combined to introduce the wind field model to the quadcopter.In the process of UAV dynamic model modeling,a four-rotor UAV dynamic model with wind disturbance factor is established.And input the wind field model as an external disturbance into the four-rotor UAV controller simulation system,and the output of the system directly reflects the controller's control stability of the system and its anti-wind disturbance performance.(3)Finally,analyze the PID control method.Based on the established four-rotor UAV dynamic model with wind disturbance factor,a dual-loop PID controller with feedforward compensation is proposed,starting with the error between the expected Euler angle and the current Euler angle a PID controller with feedforward compensation is designed.According to the principle of a composite control system based on disturbance input,the parameters of the feedforward channel compensator are related to the wind field disturbance model and the fourrotor UAV kinematics model.The four-rotor UAV dynamic model with wind disturbance factor is a nonlinear dynamic model.The linear parameter-varying(LPV)method is used to linearize the nonlinear system,and the UAV pitch channel,roll channel and yaw are derived.The transfer function of the navigation channel,and build a single-loop PID controller simulation model,a dual-loop PID controller simulation model,and a dual-loop PID controller simulation model with feedforward compensation in MATLAB.Through the pitch channel,roll channel and yaw channel The simulation and the anti-wind disturbance simulation experiment of these three channels further verify that the dual-loop PID controller with feedforward compensation has shorter response time,more stable system and stronger anti-interference performance.