Design Of Rotor UAVs Control System Under Near-wall Wind-disturbance

Quadrotor,as a kind of multi-robot aircraft,is widely used due to its small size,simple structure and strong maneuverability.Quadrotor will be disturbed by many factors in the actual flight.Especially when UAV is performing patrol,surveillance and other missions near the wall,UAV will be disturbed by turbulent wind field caused by wall reflection,which brings difficulties to the control of quadrotor.Therefore,this paper focuses on the flight control problems of quadrotor from two aspects of whether quadrotor is affected by the turbulent wind field.The main work is as follows:Firstly,this paper analyzes the flight principle of the quadrotor and the conversion relationship between the two coordinate systems.According to the mechanics related theory,the dynamics model of the UAV is established without wind disturbance.In addition,UAV in the turbulent wind field is researched.And the appropriate turbulent wind field model and the UAV dynamics model under wind disturbance are established.Then,for the UAV without turbulent wind field disturbance,the LQR control method is used to design the controller.In order to further improve the dynamic performance of the controller,a parameter optimization control method based on GOA is proposed to optimize the parameters of LQR controller,aiming at the complicated problem of parameter tuning in LQR controller.The control effects of the parameter before and after optimization are compared by simulation experiments to verify the effectiveness of the parameter optimization control method.Finally,for the UAV under turbulent wind field disturbance,a control method based on model predictive control and PID is proposed.The position loop adopts model predictive control and the attitude loop adopts PID control.In order to verify the effectiveness of the proposed method,the simulation comparison experiment with the double closed-loop PID control is conducted,and the results shows that the method can effectively suppress the disturbance of turbulent wind field,and has good control performance,and it is superior to the double closed-loop PID control method.