Abstract:When performing turning flight tasks in a dynamic environment of non-uniform near earth vortex flow field and irregular boundary obstacle coupling in a quadcopter unmanned aerial vehicle, it is prone to sliding mode oscillation and trajectory drift misalignment due to aerodynamic unsteady effects and mutual interference between multi rotor wakes, making it difficult to achieve effective attitude control. Therefore, a quadcopter unmanned aerial vehicle turning flight attitude control system based on MCF5235 is designed. Adopting a partitioned anti-interference hardware architecture, the MPU6050 attitude sensor and MS4525DO airspeed sensor are integrated to collect real-time attitude and airflow data. Introduce aerodynamic interference coefficient, dynamically modify rotor tension model, and optimize roll moment calculation. Using the robust sliding mode control law as the initial input for the backstepping method and embedding it into the action space of the near end strategy optimization algorithm, the control parameters are dynamically adjusted through optimization problems, taking into account disturbance rejection, convergence speed, and adaptability, effectively suppressing sliding mode chattering, reducing the probability of trajectory drift and misalignment, and achieving precise attitude tracking. The farmland turning experiment of the quadcopter for crop protection showed that the maximum tracking error of the system roll angle was only 0.01 °, and the pitch and yaw angle errors were both 0 °; In the 8-waypoint turning test, a 100% pass rate was achieved, and the trajectory fully followed the preset path, significantly improving control accuracy.
