机械制造与自动化2024，Vol.53Issue(3)：243-248,6.DOI:10.19344/j.cnki.issn1671-5276.2024.03.052
中型无人直升机内环控制器的设计与实现
Design and Implementation of Inner Loop Controller for Plant Protection Unmanned Helicopter
李晨毓 1姚志豪 1祖家奎 1桑可可1
作者信息
- 1. 南京航空航天大学自动化学院,江苏南京 211106
- 折叠
摘要
Abstract
In line with the special demand of a certain type of plant protection unmanned helicopter for inner loop control and in consideration of the influence of model parameter uncertainty and various disturbances on the control of unmanned helicopter,an inner loop control system based on linear auto disturbance rejection is designed to realize the suppression of uncertain disturbances by the unmanned helicopter control system.This paper introduces a complete set of design flow of dynamics modeling,stability analysis,inner loop controller design and simulation verification of unmanned helicopter.The results show that the designed inner loop controller can meet the technical requirements with good anti-interference effect and the achievement of the expected research objectives.关键词
无人直升机/内环控制器/线性化模型组/线性自抗扰Key words
UMH/inner loop controller/linearized model group/LADRC分类
计算机与自动化引用本文复制引用
李晨毓,姚志豪,祖家奎,桑可可..中型无人直升机内环控制器的设计与实现[J].机械制造与自动化,2024,53(3):243-248,6.
