An Auto Disturbance Rejection Control Method for Four Rotor UAV Flight Operation

Abstract

The four rotor unmanned aerial vehicle (UAV) can carry out all-round and efficient inspection of power equipment. At present, the four rotor UAV has become an essential equipment in the inspection of transmission lines. However, the support of UAV for distribution line inspection is far less than that for transmission line inspection. This is mainly because the operating environment of distribution lines is much more complex and harsh than that of transmission lines. In the process of power distribution line inspection, all kinds of environmental interference are far more than transmission lines. The existing four rotor UAV control methods have poor resistance to external interference. Aiming at the above problems, the research on ADRC method of four rotor UAV is carried out in this paper. The principle of active disturbance rejection is analyzed. A linear active disturbance rejection scheme is proposed. The attitude control module of UAV is designed. The simulation model of ADRC system of four rotor UAV is constructed. The simulation results show that the ADRC method can effectively alleviate the influence of random interference on the flight state of UAV. For the UAV operating in complex environment, it is necessary to optimize the anti-interference of its control system. The research results have guiding significance for improving the anti-interference ability of UAV in the process of distribution line inspection.