Optimization of Counterwind Disturbance Compensation Control Algorithm for UAV Flight

2018 3rd International Conference on Insulating Materials, Material Application and Electrical Engineering

材料科学;无线电电子学;电工学

Chen, Yongcong^1 ; Lu, Xinghua^2

Guangzhou Huali Science and Technology Vocational College, Guangzhou

511325, China^1

Huali College Guangdong University of Technology, Guangdong Guangzhou

511325, China^2

关键词: Disturbance compensation;    Mechanical parameters;    Non-linear variation;    Optimal control design;    Optimal control law;    Polar coordinate systems;    Radial acceleration;    Uncertain environments;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/452/4/042090/pdf
DOI  :  10.1088/1757-899X/452/4/042090

学科分类：材料科学（综合）

来源: IOP

【 摘 要 】

The mechanical parameters of UAV in the headwind flight are easily disturbed by nonlinear variation of the wind force, so the optimal control design is needed. A counterwind disturbance compensation control algorithm for UAV flight based on static anti-saturation yaw suppression is proposed. The dynamic parameter model and control constraint parameter model of UAV flight is constructed under the action of headwind disturbance to realize the optimal configuration of UAV flight dynamics in uncertain environment. The vector velocity and radial acceleration of UAV flight are optimized and matched in the vortex center polar coordinate system. The static anti-saturation yaw suppression method is used to compensate the disturbance and correct the yaw in the headwind flight environment of UAV. Under the optimal control law, the UAV carrier is guided to fly headwind along the predetermined flight trajectory, and the stability control of UAV flight is realized. The simulation results show that the proposed algorithm has good output stability and accurate tracking ability, reduces the flight control error and improves the control quality.