Research On The Controller Of Quadrotor Line Patrol UAV

Quadrotor line patrol UAV is a typical nonlinear system featuring multiple inputs,multiple outputs,and strong coupling.However,it might be confronted with internal and external interferences such as external wind interference,air flow disturbance,internal electrical interference,mechanical interference,and test interference during the line patrol operation.In that case,it is of great challenge to implement high-precision tracking control of the quadrotor line patrol UAV and complete the patrol task as per the preset trajectory.In response to the challenge,this thesis studied the design of the controller for the typical X-type quadrotor line patrol UAV.Main contents are presented as follows:(1)Kinematics and dynamics models were first established for the quadrotor patrol UAV with the help of the Euler geometry and Newtonian mechanics based on the flight mechanism of the X-type quadrotor line patrol UAV and then verified by simulation.Based on this,the three-dimensional tracking trajectory was determined according to the characteristics of the line tracking conditions.Also,random disturbances were designed to simulate internal and external interferences,so that comprehensive performance indicators were determined for measuring the tracking and anti-interference capabilities of the quadrotor line patrol UAV controller.Meanwhile,simulation models of the quadrotor line patrol UAV,the expected line-tracking trajectory,and external disturbance,etc.were developed for verification using the Simulink software.(2)The BP-PID control method has the advantages of adaptive parameter change and strong tracking capacity since the PID parameter gain value is optimized adaptively using the BP neural network.The LADRC control method possesses strong anti-interference capability and control parameters without coupling,which can equate variable coupling,non-linear characteristics,parameter uncertainty as well as internal and external disturbances as the total external disturbance and eliminate them through real-time observation with a disturbance observer.In this thesis,the BPPID control algorithm was combined with the LADRC control algorithm.To be specific,the horizontal position loop was controlled using the BPPID control method,while the altitude and attitude loops were controlled using the LADRC control method.Based on this,a quadrotor line patrol UAV BPPID-LADRC cascade controller was designed to cope with problems such as the inherent variable coupling,nonlinearity,and external disturbance of the quadrotor line patrol UAV,achieving the high-precision line tracking control of the quadrotor line patrol UAV.(3)The distance error integral was taken as the performance indicator and objective function,while the parameters of the outer loop BPPID controller and inner loop LADRC controller as the variables to be optimized.On this basis,the difficulty in parameter matching between the outer loop BPPID controller and the inner loop LADRC controller was solved through collaboratively optimizing parameters of the inner and outer loop controllers with the quantum particle swarm algorithm.At the same time,the QPSO-BPPID-LADRC cascade controller was designed for the quadrotor line patrol UAV to enhance the tracking performance and anti-interference performance of the BPPID-LADRC controller.The control method proposed for the X-type quadrotor line patrol UAV was proven to have theoretical and practical significance for the implementation of high-precision tracking control of the quadrotor line patrol UAV using theoretical analysis and simulation verification.