Modeling And Control Of Inverted Pendulum On A Flying Quadrotor System

The quadrotor inverted pendulum system is composed of a first-stage inverted pendulum system and a quadrotor UAV system.On the basis of retaining the feature of inverted pendulum system,for example,multi-variable,strong coupling and natural instability,the model uncertainties of quadrotor UAV system are introduced.The quadrotor inverted pendulum system is a new complex system with broad application prospects and extremely high research value.This article aims at the stability control of the quadrotor inverted pendulum system and uses a variety of methods to achieve good control results.The main research contents of this article are as follows:(1)The dynamic analysis of the quadrotor inverted pendulum system is carried out,and the mathematics model is established.The inverted pendulum system and the quadrotor UAV system were modeled separately.Based on the relationship between the two models in the space coordinate system,the overall model of the quadrotor inverted pendulum system was deduced.The linearization model is taken by linearization at the equilibrium point.(2)The related principles of the generalized predictive control algorithm and the active disturbance rejection control algorithm are studied.Aiming at the shortcomings of the generalized predictive control algorithm,a variable gain control method is proposed,which effectively improves the control performance of the algorithm.On this basis,the active disturbance rejection control-generalized predictive control algorithm is introduced.The algorithm combines the advantages of generalized predictive control and active disturbance rejection control and compensate for some weaknesses of the algorithm.Through the experiments of active disturbance rejection control and active disturbance rejection control-generalized predictive control in a first-stage rotary inverted pendulum,it is proved that active disturbance rejection control-generalized predictive control algorithm has excellent control performance for such systems.(3)The cascade parallel control structure of the quadrotor inverted pendulum system is designed,and the system tends to be stable.The system is divided into two parts: the position module and the attitude module through the system block control method.The quadrotor position system and the inverted pendulum system are combined to form the system position module,the parallel control method and PD controller is used to realize the position module stability control;the quadrotor attitude system is taken as the attitude module of the system,the PD control,active disturbance rejection control,active disturbance rejection control-generalized predictive control are used to complete the stable control of the attitude module.The two modules are fused by cascade control mode,and the system parameters are adjusted to complete the stability control of the quadrotor inverted pendulum system,and compare the control effects of the three algorithms after the system fusion,and prove that the fusion algorithm of PD and active disturbance rejection control-generalized predictive control has a better effect on the system control performance.