Design and Implementation of Inner Loop Controller for Plant Protection Unmanned Helicopter
In line with the special demand of a certain type of plant protection unmanned helicopter for inner loop control and in consideration of the influence of model parameter uncertainty and various disturbances on the control of unmanned helicopter,an inner loop control system based on linear auto disturbance rejection is designed to realize the suppression of uncertain disturbances by the unmanned helicopter control system.This paper introduces a complete set of design flow of dynamics modeling,stability analysis,inner loop controller design and simulation verification of unmanned helicopter.The results show that the designed inner loop controller can meet the technical requirements with good anti-interference effect and the achievement of the expected research objectives.
UMHinner loop controllerlinearized model groupLADRC
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