Research on Anti-wind Disturbance Controller of Tiltrotor UAV Based on ADRC

Tiltrotor unmanned aerial vehicles can take off and land vertically in a small space, and can also cruise at high speed, so there will be broad development space in the future. However, rotary wing unmanned aerial vehicle themselves have the characteristics of strong coupling and nonlinearity, it is susceptible to the interference of near the ground wind to fail the task during vertical takeoff and landing, causing economic losses. In response to this issue, this paper analyzes the impact of near ground wind on aircraft attitude, and designs a self-adaptive wind resistant controller based on the principle of active disturbance rejection control, and the experiments of the vertical take-off and suspension of UAVs is performed under the conditions of simulation of external wind fields. The simulation results show that when taking off and landing vertically in a windy environment, the controller can accurately estimate the wind disturbance received and compensate for the control variables, resulting in a significant reduction and more stable in the oscillation of the UAV's various attitudes, and being enhanced wind resistance.