火力与指挥控制2024，Vol.49Issue(3)：43-48,6.DOI:10.3969/j.issn.1002-0640.2024.03.006
基于改进LADRC的矢量推力双旋翼飞行器姿态控制
Attitude Control of Dual-rotor Aircrafts Based on Improved LADRC Vector Thrust
摘要
Abstract
To solve the problems of strong coupling and inaccurate model in the attitude control process of the dual-rotor aircrafts with vector thrust,an improved linear active disturbance rejection controller(LADRC)method is proposed.First,the improved linear extended state observer(LESO)is used to improve the real-time observation accuracy of the total disturbance.At the same time,the fuzzy control idea is introduced to tune the linear state error feedback control law based on the attitude angle errors and its change rates.Finally,the dual-rotor aircrafts with vector thrust is taken as the research object to compare the anti-interference effect of PID and conventional LADRC against external disturbances,the simulation test verifies that the proposed method can better estimate and compensation the total disturbance of system,and has better anti-interference performance and convergence speed.关键词
矢量推力双旋翼/线性自抗扰控制/姿态控制/抗扰能力Key words
dual-rotor aircrafts with vector thrust/LADRC/attitude control/anti-interference ca-pability分类
航空航天引用本文复制引用
蔡少泓,院老虎,赵维涛..基于改进LADRC的矢量推力双旋翼飞行器姿态控制[J].火力与指挥控制,2024,49(3):43-48,6.基金项目
国家自然科学基金资助项目(11302134) （11302134）
