海军航空大学学报2024，Vol.39Issue(1)：123-130,146,9.DOI:10.7682/j.issn.2097-1427.2024.01.004
基于自抗扰控制的共轴直升机姿态控制律设计
Design of Attitude Control Law for Coaxial Helicopter Based on Active Disturbance Rejection Control
刘明皓 1周沛沅 2许敏捷 2王新华2
作者信息
- 1. 中船(北京)智能装备科技有限公司,北京 102629||中国船舶集团有限公司第七一六研究所,江苏 连云港 222061
- 2. 南京航空航天大学自动化学院,江苏 南京 210016
- 折叠
摘要
Abstract
A coaxial twin rotor unmanned helicopter is taken as the research object to study the anti disturbance problem during the homing approach and landing phases of unmanned aerial vehicles.In order to improve the anti disturbance per-formance of coaxial helicopters against external disturbances,an active disturbance rejection controller(ADRC)is select-ed to design the attitude control law for coaxial helicopters in the marine landing environment.An improved particle swarm optimization algorithm is designed to optimize the parameters of the active disturbance rejection control law.The simulation results show that the improved particle swarm optimization algorithm can significantly improve the parameter tuning speed and accuracy;the auto disturbance rejection control law with optimized parameters has good dynamic re-sponse and robustness in the strong interference environment.关键词
共轴直升机/自抗扰控制/改进粒子群算法/姿态控制律设计Key words
coaxial helicopter/automatic disturbance rejection control/improved particle swarm optimization algorithm/attitude control law design分类
航空航天引用本文复制引用
刘明皓,周沛沅,许敏捷,王新华..基于自抗扰控制的共轴直升机姿态控制律设计[J].海军航空大学学报,2024,39(1):123-130,146,9.
