| In recent years,with the development of UAV technology,Four-rotor UAV has been welcomed in military,civil,industrial and agricultural fields due to its low cost,strong maneuverability and relatively simple structure.Because it usually works outdoors,it will be disturbed by the wind,which has become a major constraint on the development of UAVs.Improving UAV’s ability to cope with wind disturbance has become a research topic of many universities and research institutes.In order to improve the stability and strain ability of UAV when it encounters wind disturbance,an improved neural network is proposed to analyze the attitude angle information of UAV to identify the wind disturbance.According to the wind disturbance,flight control strategy is designed to avoid wind disturbance.In addition,a control algorithm considering wind disturbance is designed to improve the stability of UAV when it encounters wind disturbance.In this paper,the following work has been done in the identification of UAV’s wind state,the formulation of flight strategy and UAV’s stability control:1.Aiming at the problems of complex calculation and additional sensors in existing wind field estimation methods of UAV,a wind state estimation method of UAV based on rough set genetic algorithm(RS-GA)neural network is proposed,and flight control strategy is formulated according to the wind information of UAV and the characteristics of wind disturbance.The simulation results show that the method has high recognition rate and short training time,which proves the effectiveness of its application in UAV.2.Aiming at the problems of long response time,overshoot and poor anti-jamming ability of existing PID controllers,considering the interference effect of wind field on UAV,a kind of ADRC controllers with part of known interference are designed.The simulation results show that the attitude and position errors of UAV are within a reasonable range,which proves that the algorithm can effectively improve the stability of UAV under wind disturbance.3.The last generation of flight control in the laboratory has been improved,and its volume and mass have been greatly reduced by redesigning and making boards.New generation flight control with ADRC control algorithm basically realizes the stabilization control of UAV in flight experiment... |
