On the maximum anti-interference ability of quadrotor UAV

When a quadrotor UAV is interfered so much that it may deviate from the equilibrium state greatly. Due to the limitation of the output rate of the actuator, its output control signal is always less than the control signal needed to adjust the attitude of the aircraft, which may cause the quadrotor UAV to lose control. This paper focuses on the characteristics of yaw dynamics of the six DOF underactuated quadrotor UAV, studies the quantitative matching relationship between the design of the control loop, the motor rate limiter and the maximum angular velocity interference of the quadrotor UAV, through the analysis of without the actuator and with the actuator respectively. The maximum angular velocity disturbance and the maximum attitude angular acceleration disturbance are obtained. Finally, the great anti-interference capability of the quadrotor UAV controlled by the classical PD control method is verified by simulation. The simulation results show that the conclusion of this paper is correct. It provides a reference for engineering application.