Design,Simulation And Test Of The Active Disturbance Rejection Control System For Trans-Medium UAV

Trans-medium unmanned aerial vehicle is a kind of aircraft with simultaneous air and underwater navigation capabilities and flexible trans-medium capabilities.It not only has the powerful communication positioning and formation operations capabilities of aerial UAVs,but also has the concealment and endurance capabilities of submarines.It has strong application prospects in environmental issues and marine resource exploration.In order to adapt to the complexity of its working environment,control technology has become a key factor in the development of Trans-medium UAVs.Based on the rotary-wing Trans-medium UAV,this paper focusing on its control system and trans-medium control strategy.The control system of the Trans-medium UAV was designed,the parameters of the controller were optimized,and its trans-medium control strategy was proposed.A trans-medium control strategy including power distribution and nonlinear compensation is proposed.Finally,through simulation analysis and prototype test,the stable and reliable multiple medium crossings were realized,which verified the effectiveness of the control strategy.The specific research content of this paper includes the following aspects.(1)Established the mathematical model of the Trans-medium UAV and designed its navigation system.The Trans-medium UAV adopts a coaxial water and air power system layout.Aiming at the singularity of Euler angles,a quaternion-based kinematic model is established.For the different forces in each medium and transition section,established its dynamic model;and modeled its dual dynamic system.Multi-system navigation schemes such as water depth sensors are used to correct the multi-medium pose of the Trans-medium UAV.Aiming at the mapping problem between the global positioning system and the Transmedium UAV coordinate system,a local expansion algorithm of the spherical coordinate system is proposed.This positioning method is more accurate than the Spherical Hassine Method.(2)The design of the Active Disturbance Rejection Control system of the Trans-medium UAV is carried out.First,the mathematical model of the non-linear and strongly coupled Trans-medium UAV is simplified and decoupled,and the classical control theory methods including root locus and pole configuration are used to provide a simplified model parameter tuning method.Secondly,an extended kalman filter algorithm based on quaternion considering the drift noise of gyroscope is derived for pose estimation in complex environment.Finally,in view of the Trans-medium problem,a gap-type power distribution strategy is proposed for the continuous switching of the water and air power systems in the Trans-medium stage.And aiming at the nonlinear problem of the dynamic system at weak output,a parabolic dynamic compensation function is proposed.(3)The simulation and experiment of the Active Disturbance Rejection Control system of the Trans-medium UAV are carried out.The single-medium and trans-medium control simulations of the Trans-medium UAV were carried out respectively to verify the parameter tuning method and the Trans-medium strategy designed in the previous article.By comparing with the traditional PID controller,the superior performance of the Active Disturbance Rejection Control system is verified.Finally,through the prototype test,the stable and reliable multiple medium crossings were realized,which verified the good dynamic response ability and stability of the Active Disturbance Rejection Control system designed above.