Flight control and simulation of quad-rotor UAV under wind field disturbance

Abstract

Abstract: Aiming at the problem that quad-rotor UAV is usually disturbed by wind in the field, a flight control method of quad-rotor UAV under wind disturbance is proposed. Based on force analysis of quad-rotor UAV, the nonlinear mathematical model is established by considering the gyroscope effect, and the external wind field disturbance is introduced to establish the dynamic model under the action of wind field. The backstep controller is designed to realize the position and attitude control of the quad-rotor UAV. Lyapunov stability theory is used to prove the stability of the system, and Matlab/Simulink is used to simulate and analyze the control strategy effect. Under the action of natural wind, this model accurately reflects the dynamic characteristics of the system, and the backstep controller can also track the trajectory of the four-rotor UAV, which has good stability

Key words: , quad-rotor UAV, wind field disturbance, backstep control, Matlab/Simulink simulation

CLC Number:

V249

YANG Yonggang , SONG Wei . Flight control and simulation of quad-rotor UAV under wind field disturbance [J]. Journal of Civil Aviation University of China, 2021, 39(3): 16-21.

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