The operation of the operation equipment installed on the UAV platform and the interference of the flight environment will cause the center of gravity of the UAV to shift,which will affect the operation accuracy.A method for stabilizing UAV attitude by automatic trim device with composite disturbance model is proposed,considering the airflow disturbance,UAV load change and other factors,the structural optimization design of the automatic trimming device with multiple targets of UAV pitch angle,roll angle and yaw angle is carried out,and the stability of the UAV is verified by experiments.The results show that compared with the multi-rotor UAV before adding the trim device,the overshoot of the UAV pitch angle,roll angle and yaw angle are re-duced by 11.6％,48.5％and 34.5％,respectively,the corresponding attitude stabilization time is shortened by 0.06s,0.07s and 0.06s,and the control stability of the UAV in the three-axis direction is increased by 54.4％,69.5％and 60.8％,which solves the problem that the composite effect of airflow disturbance and UAV load change affects the fluctuation of UAV flight attitude,and ensures the stability of fllight.The proposed method can provide reference for the optimal design of multi-rotor UAV structure un-der complex working conditions.
关键词
多旋翼无人机/复合扰动模型/自动配平装置/稳定性
Key words
Multi-Rotor UAV/Composite Disturbance Model/Automatic Trim Device/Stability
维普
万方数据