基于改进滑模算法的无人机抗风雨研究

Research on WeatherResistance of UAV Based on ImprovedSliding Mode Algorithm

无人机在环境变化的条件下执行任务时,受到外部因素的干扰影响无人机飞行轨迹和品质。针对当前四旋翼无人机的欠驱动、非线性、强耦合和易受外界风雨干扰的特性,建立了一种风雨干扰作用下的无人机动力数学模型,采用新型反正切饱和函数的滑模控制算法建立抗风雨干扰控制器,减小滑模控制中存在的抖振问题。通过MATLAB建模仿真表明,上述模型能很好的模拟无人机在风雨干扰作用下飞行情况,建立的控制器具有可靠性高、收敛速度较快和鲁棒性较强的特点。

The flight path and quality of unmanned aerial vehicle(UAV)are affected by external factors when it carries out its mission under the changing environment.In view of the current four UAV rotorcraft underactuated,nonlinear,strong coupling and the characteristics of interference by the wind and rain,this paper established a unmanned aerial vehicle(UAV)under the action of wind and rain interference dynamic mathematical model,adopting new type arc tangent saturation function to establish wind interference controller of sliding mode control algorithm,reduce the chattering of sliding mode control problem.MATLAB modeling and simulation shows that the model can well simulate the flight of UAV under wind and rain interference,and the controller established has the characteristics of high reliability,fast convergence speed and strong robustness.