《计算机应用研究》|Application Research of Computers

一种线性自抗扰控制器的无人直升机姿态控制方法研究

Research on attitude control method of unmanned helicopter based on linear active disturbance rejection control

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作者 王云霞,代冀阳,王村松,胡烽
机构 1.南昌航空大学 信息工程学院,南昌 330063;2.南京航空航天大学 自动化学院,南京 211106
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文章编号 1001-3695(2019)06-032-1753-05
DOI 10.19734/j.issn.1001-3695.2017.11.0793
摘要 针对无人直升机模型复杂、控制器难以设计、易受外界干扰等问题,在建立亚拓系列直升机动力学模型基础上,提出了一种改进的二阶线性自抗扰控制器。首先,将线性扩张状态观测器用于估计影响输出结果的扰动,并加入跟踪微分器。然后,改进了控制器结构与反馈补偿系数,使直升机姿态角能够更快地响应所输入的指令,并能够按设定的角度飞行,以完成要求的任务;最后,通过引入白噪声干扰模块来验证该控制器的抗干扰能力。对比仿真结果表明,所提出的控制器对于无人直升机的姿态角有较好的控制效果,优于其他两种控制器。特别是在噪声干扰的条件下,也有较好的动态性能和鲁棒性。
关键词 改进线性自抗扰控制器; 无人直升机; 姿态角控制; 抗干扰
基金项目 国家自然科学基金资助项目(61663032)
江西省自然科学基金资助项目(20151BAB207043)
南昌航空大学研究生创新专项基金资助项目(YC2016010)
江西省教育厅自然科学基金资助项目(DA201404278)
本文URL http://www.arocmag.com/article/01-2019-06-032.html
英文标题 Research on attitude control method of unmanned helicopter based on linear active disturbance rejection control
作者英文名 Wang Yunxia, Dai Jiyang, Wang Cunsong, Hu Feng
机构英文名 1.College of Information Engineering,Nanchang Hangkong University,Nanchang 330063,China;2.College of Automation,Nanjing University of Aeronautics & Astronautics,Nanjing 211106,China
英文摘要 In order to solve the problems of complex model of unmanned helicopter difficulty of flight controller design and susceptible to external disturbances, this paper established a kinetic model of Trex series helicopters and proposed an improved second order linear active disturbance rejection controller. Firstly, it used the LADRC to estimate the disturbance that affected the output and added the tracking differentiator at the same time. Secondly, it improved the controller structure and the feedback compensation coefficient, so that the helicopter attitude angle could respond to the input command more quickly, and could fly at a set angle to accomplish the required tasks. Finally, it introduced the white noise interference module to verify the anti-jamming ability of the controller. Comparative simulation results show that the proposed controller has better control effect on the attitude angle of the unmanned helicopter. It is better than the other two controllers. Especially in the condition of noise interference, it also has better dynamic performance and robustness.
英文关键词 improved linear ADRC controller; unmanned helicopter; attitude angle control; anti-interference
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收稿日期 2017/11/19
修回日期 2018/1/11
页码 1753-1757
中图分类号 TP29
文献标志码 A