Open AccessThe Design of Height Control System of Fully Autonomous UAV Based on ADRC-PID Algorithm
Author(s) -
Zhibin Zang,
Zhonggang Ma,
Yong Wang,
Fulong Ji,
Nie Haitao,
Wenjin Li
Publication year - 2020
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1650/3/032136
Subject(s) - pid controller , control theory (sociology) , inertial measurement unit , computer science , acceleration , kalman filter , control engineering , control system , accelerometer , global positioning system , engineering , control (management) , artificial intelligence , temperature control , telecommunications , physics , electrical engineering , classical mechanics , operating system
In order to solve the problem of low data accuracy due to UAV height sensing equipment such as GPS, barometer, ultrasound, etc., a control system used on multi-rotor aircraft was designed to achieve UAV autonomous altitude cruise. In response to this problem, we introduce an inertial measurement unit (IMU), and use the IMU to calculate the system acceleration (ACC), and use the Kalman algorithm to predict altitude, thereby eliminating altitude drift caused by insufficient sensor accuracy and errors. In addition, the ADRC-PID joint control algorithm is also introduced to control the attitude of the aircraft, achieve control compensation, and finally control the height of the drone through the three-loop cascade PID.