Study On Flight Control Method Of Quadrotor UAV

The traditional manipulator needs to be carried on a fixed platform when performing tasks,and the research on its model building and control algorithm is relatively mature.It is very difficult to build the dynamic model and design the control algorithm of the manipulator on the disturbed platform,so it has a very bright future.Therefore,this paper takes the manipulator based on the rotor UAV as the research object,and makes the following effective research on the establishment of its dynamic model and the design of its control method.In this paper,after in-depth analysis of the modeling methods and control methods of the manipulator based on the rotor UAV platform and other disturbing platforms,Euler Lagrange method and Newton Euler method are used to model the dynamics of the manipulator and the rotor UAV platform,and the coupling between the manipulator and the four rotor UAV is analyzed.Finally,the rotor plane is established The dynamic model of the manipulator.Sliding mode control has the advantages of being insensitive to external disturbances and internal disturbances.Based on this,a sliding mode controller is designed in this paper,which transforms the controller of the platform part of the rotorcraft into the inner ring attitude control loop and the outer ring position control loop.According to the coupling relationship between the rotation angle of the manipulator joint and the attitude angle of the rotorcraft platform,the manipulator controller is reduced to a part of the inner ring control,and the inner ring attitude sliding mode controller and the outer ring are designed The position sliding mode controller realizes the position and attitude tracking control of the whole rotor platform manipulator.The simulation results show that the sliding mode controller can keep the system stable and achieve relatively accurate pose control.The sliding mode control method has the problem of control law chatter during the control of the rotor platform manipulator.In this paper,a fuzzy sliding mode controller is designed.The fuzzy control can adaptively adjust the coefficient of the switching gain in the sliding mode control law.,Thereby reducing chatter.The simulation results show that the fuzzy sliding mode controller greatly improves the chattering phenomenon of the system,and the indicators such as the steady-state error of the pose tracking perform well.In order to solve the problem that the above two control methods have a long adjustment time,this paper designs a double fuzzy sliding mode controller based on the fuzzy sliding mode controller,which can adaptively adjust the slope of the constructed sliding mode surface on the basis of weakening chattering.The simulation results show that the double fuzzy sliding mode controller optimizes the speediness index,reduces the adjustment time of the tracking control,and has a good control effect on the steady-state error of the speed tracking.