基于机器学习的六旋翼高空畜牧喂养飞行器控制

Control of the Six Rotor High Altitude Animal Feeding Aircraft Based on Machine Learning

针对传统六旋翼高空畜牧喂养飞行器角度控制技术控制精度低的弊端,提出一种基于机器学习的六旋翼飞行器角度高精度控制技术。通过加速度传感器与陀螺传感器对六旋翼飞行器飞行过程中的加速度和角速度进行采集,基于机器学习对采集数据进行融合处理,求出六旋翼飞行器角度值。依据六旋翼高空畜牧喂养飞行器的特点,构建机体坐标系与地面坐标系。简化飞行器模型,定义其位置向量与欧拉角,给出机体坐标系至地面坐标系的转换关系。介绍了自抗扰控制器,将六旋翼飞行器当前仰角、滚转角与偏航角作为输入数据,通过自抗扰控制器对六旋翼高空畜牧喂养飞行器角度进行控制。经实例验证,所提技术控制精度高。

Aiming at the disadvantages of low angle control technology of traditional six rotor high altitude animal feeding vehicle, a machine vision based high precision angle control technology for six rotor aircraft is proposed. Acceleration and angular velocity of six rotor aircraft during flight are collected through accelerometer and gyro sensor. Based on machine learning, the data of the six rotor are processed by fusion, and the angle value of the six rotor aircraft is obtained. Based on the characteristics of the six rotor high altitude animal feeding and feeding aircraft, the coordinate system and the ground coordinate system are constructed. The aircraft model is simplified, its position vector and Euler angle are defined, and the transformation relationship between the body coordinate system and the ground coordinate system is given. The active disturbance rejection controller is introduced. The current elevation angle, roll angle and yaw angle of the six rotor aircraft are taken as input data, and the angle of the six rotor high altitude animal feeding vehicle is controlled by auto disturbance rejection controller. It is proved by an example that the precision of the proposed technique is high.