基于自适应调控技术的农田监测无人机设计

Monitoring Design of Farmland UAV Based on Adaptive Control Technology

以农田监测用四旋翼无人机为研究对象,针对控制过程出现的强振动和干扰信号,采用自适应调控技术建立了一套四旋翼无人机自适应控制系统。当外界干扰信号频率不断提高时,四旋翼无人机自适应控制器能够有效地对外界干扰进行抑制,同时对不确定因素进行自适应。四旋翼无人机自适应控制器有效解决了由无人机自身产生的振动干扰信号,对瞬态响应过程中的误差信号进行跟踪,确保无人机具有较好的瞬态性和飞行控制稳态性能。

In this paper,a four-rotor UAV for farmland monitoring is taken as the research object.Aiming at the phenomena of strong vibration and interference signals in the control process of the four-rotor UAV,an adaptive control system of the four-rotor UAV is established by using adaptive control technology.When the frequency of external disturbance signal increases continuously,the adaptive controller of four-rotor UAV can effectively suppress external disturbance and adapt uncertainties.Four-rotor UAV adaptive controller effectively solves the vibration interference signal generated by the UAV itself,and tracks the error signal in the corresponding transient process to ensure that the UAV has better transient and steady-state performance of flight control.