Research On Stabilization Control Method Of UAV Toss Flight Under Non-Zero Initial State

Quadrotor UAV is a kind of unmanned aerial vehicle with simple structure,high flexibility and low cost.At present,most of the rotor aircraft need to be stationary from the horizontal ground take-off,limited by the carrying capacity and endurance of quadrotor UAV,the mission efficiency and operating radius of general UAV are rela-tively low.Using air dynamic deployment technology can improve the mission execu-tion ability and the efficiency of four rotor UAV.In the process of dynamic deployment,it is characterized by strong disturbance,easy dispersion and high control difficulty.The drone roils rapidly through the air some aerodynamic characteristics will cause obvious disturbance to uav attitude.How to make UAV in complex state stabilization control is the core and difficulty of the technology.This topic is aimed at the quadrotor UAV the control method of fly-by stabilization under non-zero initial state is studied.Quadrotor UAV is a kind of unmanned aerial vehicle with a simple structure,high flexibility,and low cost.At present,most of the rotor aircraft need to be stationary from the horizontal ground take-off,limited by the carrying capacity and endurance of quadrotor UAV,the mission efficiency and operating radius of general UAV are relatively low.Adopt aerial dynamic deployment the technology could improve the mission efficiency of quadcopter UAVs.The process of dynamic deployment is characterized by strong disturbance,easy dispersion,and high control difficulty.The drone roils rapidly through the air some aero-dynamic characteristics will cause obvious disturbance to UAV attitude.How to make UAV in the complex state stabilization control is the core and difficulty of the technol-ogy.This topic is aimed at the quadrotor UAV the control method of fly-by stabilization under a non-zero initial state is studied.First of all,based on the Newton-Euler equation and Newton’s second law,this paper establishes the kinematics model and kinetic model.After analysis,the rotor flut-ter with the most obvious disturbance in aerodynamic characteristics is selected effect and induced resistance are modeled and analyzed,and aerodynamic model parameters are obtained by the system identification method.The aerodynamic model is integrated into the dynamics and kinematics model to obtain a comprehensive UAV mathematical model.Secondly,a cascade active disturbance rejection controller is designed.Differen-tial signals can be extracted from internal and external noise by tracking differentiator,and the disturbance can be estimated and compensated by an extended state observer the nonlinear state error feedback control law is used to achieve the control purpose.MATLAB/SIMULINK simulation results show that the cascade active disturbance re-jection controller it can achieve the effect of stabilization control from the non-zero initial state,but in the performance of the control system,especially the rapidity and ro-bustness there is still a lack of,to improve the performance of the controller,based on the cascade active disturbance rejection controller,use The sliding mode controller replaces them nonlinear state error feedback control rate.The sliding mode controller is based on a fractional calculus operator to design the sliding mode surface.It not only realized the fast convergence of the system but also suppressed the chattering phenomenon of the traditional sliding mode controller the results show that the fractional-order sliding mode active disturbance rejection controller has better performance and has good per-formance on the premise of satisfying the control requirements disturbance resistance,also has good robustness and rapidity,to achieve the UAV in the non-zero initial state of the calm control function.Finally,to fit the practical engineering application,the performance of the designed controller is tested and verified.First of all,an experimental platform for UAV flight-stabilization control in a non-zero initial state is built.Then,for the small initial state,three initial conditions,overturning state and large initial state,were designed and veri-fied Finally,the performance of the controller is simulated by experiments to verify its engineering practical significance.Experimental results show that the controller is de-signed the control system has good disturbance immunity and robustness it has a good control effect and meets the requirements of UAV dynamic deployment.