Research On The Wind Control For Quadrotor UAV

In recent years, with the innovation of materials manufacture and process technology, development of control theory and method, upgrade of battery and power system, and appearance and advance of new type motor like brushless direct current motor, technique of unmanned aerial vehicle represented by quadrotor has achieved unprecedented progress. As one type of the rotor craft, quadrotor has the advantage of small-size, simple-structure, light-weight and good-maneuverability, and the feature of vertical take-off and landing and spot hover, quadrotor has been widely spread for military and commercial usage. The most common interference to the quadrotor while flying is the influence of wind, and the specialty of small-size and light-weight even amplifies its influence, the wind may affect the attitude control, the position control and trajectory planning of the quadrotor. Consequently, the study of anti-interference to the wind has been a main point in the field of quadrotor research, which makes up the major purpose of this paper.At first, the physical design and principle of flight have been analyzed. The kinematics and dynamic model of quadrotor have been established according to the Newton-Euler formula based on the former analysis, and this dynamic model gives full expression to the complexity of the flight of quadrotor. Next, the character of atmospheric turbulence wind field has been studied and the dynamic model of the wind field has been built, and the model of wind has been added to the control system of quadrotor as a disturbance term, completing the description of dynamic characteristic of the quadrotor in wind field.Then, the PID control method has been introduced and analyzed in this paper. On account of the model and the PID control method, the control system has been designed for quadrotor. The stable control for attitude and position has been implemented during the simulation.A new controller has been designed on the basis of the PD controller and the model of atmospheric turbulence wind field. Several Matlab/Simulink modules have been built and simulated using the active disturbance rejection control method. The simulation results show: compared with the PD controller, the active disturbance rejection controller has better control performance and can effectively control the influence of the disturbance of the turbulent wind field, and the position and attitude stabilization control of the four rotor aircraft can be realized.