Intelligent Operation Head Control Method Based on Fuzzy Active Disturbance Rejection Control

Aiming at the complex disturbance control problems faced by UAVs in 10kV distribution network insulation spraying operations, this paper proposes a synergistic control architecture that integrates fuzzy self-immunity control and sliding mode PIFOC speed loop. By designing a fuzzy rule base to dynamically compensate the gain parameters of the linear auto-immunity controller (LADRC), the shortcomings of the traditional LADRC with fixed parameters are solved; at the motor drive level, the sliding mode PI control is innovatively introduced to replace the traditional FOC speed loop, which is combined with a hyperbolic tangent function to suppress high-frequency jitter, so as to achieve the synergistic optimisation of dynamic immunity and steady state accuracy. Matlab/Simulink simulation and physical verification of the three-axis gimbal show that the proposed scheme provides an effective technical solution for high-precision spraying operations in a strong electromagnetic interference environment compared with traditional methods.