Anti-wind Disturbance Control Of UAV Based On Acceleration Feedback

In this article,the main concern is the control performance of the drone under wind disturbance.It is well known that wind disturbance has always been a key factor affecting the flight safety of drones.His interference can directly affect the flight performance of the drone.If it is not handled properly,it will even cause serious impact on the "explosive machine".The design of the UAV system controller poses a higher challenge.In order to improve the ability of UAV to suppress wind disturbance and achieve the requirement of suppressing wind disturbance,this paper proposes an anti-wind disturbance method based on acceleration feedback(AF).The method does not need to change the structure of the original system controller,but introduces an angular acceleration feedback control based on the conventional drone controller with cascade PID control,and adopts an angular acceleration feedback attitude in the drone.On the basis of control,linear acceleration feedback is introduced for better control,so that the high-precision position control of the drone is realized,and the disturbance suppression capability of the system under wind disturbance is improved.Thereby the drone has better antidisturbance performance.In this paper,the six-axis multi-rotor UAV is used to compare the control effects under continuous wind and gust disturbance in outdoor environment.The obtained information is obtained by using the acceleration information obtained by Kalman filter and Badworth filter.Analyze and process,then use the acceleration feedback method to carry out the flight experiment,and prove the anti-wind disturbance performance of the proposed method for the UAV by comparing the trajectory tracking effect of the traditional PID controller with the PID controller under AF feedback.There is a big improvement.