基于改进自抗扰技术的四旋翼姿态控制

doi:10.16182/j.issn1004731x.joss.201808037

系统仿真学报 ›› 2018, Vol. 30 ›› Issue (8): 3124-3129.doi: 10.16182/j.issn1004731x.joss.201808037

基于改进自抗扰技术的四旋翼姿态控制

王彪, 唐超颖, 孔大庆

南京航空航天大学自动化学院,江苏南京 211106

收稿日期:2016-10-21 出版日期:2018-08-10 发布日期:2019-01-08
作者简介:王彪(1975-),男,辽宁,博士,副教授,研究方向为无人机飞行控制;唐超颖(1979),女,江苏扬州,博士,副教授,研究方向为导航、制导与控制;孔大庆(1990-),男,江苏睢宁,硕士生,研究方向为无人机飞行控制。
基金资助:
航空科学基金(20175752045)

Quadrotor Attitude Control Based on an Improved ADRC

Wang Biao, Tang Chaoying, Kong Daqing

College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China

Received:2016-10-21 Online:2018-08-10 Published:2019-01-08

摘要/Abstract

摘要： 提出了一种基于自抗扰技术实现四旋翼飞行姿态控制的改进方案。分析了四旋翼横滚、俯仰和偏航通道的动力学模型,着重讨论了飞行器执行机构特性对建立扩张状态观测器的影响。在此基础上对扩张状态观测器进行了延迟补偿,给出其离散状态方程,运用前人研究的新型非线性函数,改进非线性状态误差反馈的构造方式。四旋翼姿态控制仿真结果表明,延迟补偿后的扩张状态观测器可以更精确的观测扰动,更好地补偿总和扰动;改进的非线性状态误差反馈能够更加快速的对扰动进行抑制,而且不易引起系统震荡,提高了系统的抗扰能力和工程可实现性。

关键词: 四旋翼飞行器, 姿态控制, 自抗扰控制, 扩张状态观测器, 延迟补偿

Abstract: An improved attitude control scheme for the quadrotor is proposed based on active disturbance rejection control (ADRC). The attitude dynamics of the quadrotor is modelled and analysed. The influence of actuator characteristics is discussed to establish an extended state observer (ESO). Based on it, the ESO is compensated by the delay unit and its discrete state equations are given. Nonlinear function of previous studies is used to construct nonlinear state error feedback (NLSEF). The simulation results show that the ESO with compensation of the delay unit gets better estimation of disturbance and compensates to disturbance better than the ESO without compensation; the improved NLSEF can reject disturbance more quickly without jitter than the classic NLSEF. The improved ADRC has better performance on rejection of disturbance and is more applicable in practice.

Key words: quadrotor, attitude control, ADRC, ESO, delay compensating

中图分类号:

V279

王彪, 唐超颖, 孔大庆. 基于改进自抗扰技术的四旋翼姿态控制[J]. 系统仿真学报, 2018, 30(8): 3124-3129.

Wang Biao, Tang Chaoying, Kong Daqing. Quadrotor Attitude Control Based on an Improved ADRC[J]. Journal of System Simulation, 2018, 30(8): 3124-3129.

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基于改进自抗扰技术的四旋翼姿态控制

Quadrotor Attitude Control Based on an Improved ADRC

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