The Flight Control System Of Quadrotor Based On Active Disturbance Rejection Control Technique

As a new type of unmanned aerial vehicle that has emerged in recent years,the quadrotor has the characteristics of multiple inputs and outputs,strong coupling and underdrive.The quadrotor has a simple mechanical structure and does not require a complex steering mechanism to control the rotor’s cyclic moment,and all flight movements can be completed simply by changing the rotor speed fixed on the motor.In order to ensure that the quadrotor drone can maintain good control in spite of disturbances,suitable control algorithms need to be introduced to estimate the disturbances to the system and compensate the system in real time.This article takes quadrotor UAV as the research object,and designs the flight control system based on ADRC algorithm in view of the current research on its the antiinterference.The purpose is to improve the control performance and anti-interference ability of the quadcopter UAV in terms of altitude and attitude angle under external interference.The specific research is as follows:(1)Analyze the basic motion of the quadrotor UAV.select the appropriate coordinate system to complete the dynamic modeling of the quadrotor UAV and analyze and derive its dynamic equations.The control structure frame is designed according to the input and output characteristics of the quadrotor UAV system.(2)Complete the construction of the quadrotor UAV software and hardware system platform.A detailed explanation is given for the selection of hardware for quadrotor UAV.The error of the selected sensor is analyzed and the calibration method is given.The quadrotor UAV airframe parameters required for simulation and experimentation by experimental measurements are measure.The complementary filtering algorithm is used to correct the deviation problem in the process of attitude calculation of the quadrotor UAV.(3)Based on the dynamic model,the relationship between the input and output of the quadrotor UAV is analyzed and the controller design for displacement and yaw angle based on the two algorithms ADRC and PID is completed.Simulation of ADRC and PID algorithms under ideal and interference conditions is completed by mtalab software.According to the simulation results,conclusions are drawn and the characteristics of the two algorithms are summarized.(4)Introduce the program flow of the control system for processing flight instructions and completed the calibration of the airframe level,ESC travel and sensor before the experiment.The quadrotor UAV fixed-altitude flight experiment and fixedaltitude anti-interference test were completed.The flight experiments were conducted to verify the control performance of the designed control system and its anti-interference ability.