农业机械学报2024，Vol.55Issue(6)：68-79,12.DOI:10.6041/j.issn.1000-1298.2024.06.007
基于改进型自抗扰控制的复合翼无人机旋翼控制系统设计与试验
Design and Experiment of Rotor Control System for Composite Wing Unmanned Aerial Vehicle Based on Improved ADRC
摘要
Abstract
Aiming at the vulnerability of multi-rotors drones to various external disturbances during flight,an active disturbance rejection control(ADRC)system was designed for a rotor control system of composite wing unmanned aerial vehicle(UAV)as the research object.Firstly,the kinematics and dynamics models of the multi-rotor drone system were established.Secondly,the characteristics of the ADRC algorithm were studied,and position and attitude controllers were designed in combination with the drone model.The extended state observer(ESO)was improved by introducing a more accurate dynamic model,which enhanced the disturbance observation speed and estimation accuracy.At the same time,the order of the extended state observer was reduced,and the simplicity of controller parameter tuning was improved.Furthermore,based on the six-degree-of-freedom force and moment balance equation,a control allocation model was built for the research object.Finally,Matlab/Simulink was used to complete the simulation model design and parameter adjustment.Internal gravity disturbance and external wind disturbance were added to the control targets.The simulation results showed that the controller designed could not only estimate and compensate for the internal and external disturbances of the system,but also had strong anti-interference ability,which could ensure that the drone reached the target position quickly and smoothly from the initial point,and maintained stable hovering.The steady-state error of attitude control was within 0.05°.关键词
复合翼无人机/旋翼控制系统/自抗扰控制/跟踪微分器/扩张状态观测器Key words
composite wing unmanned aerial vehicle/rotorcraft control system/active disturbance rejection control/tracking differentiator/ESO分类
信息技术与安全科学引用本文复制引用
李世超,王富贵,汪善武,常天星,魏雅川..基于改进型自抗扰控制的复合翼无人机旋翼控制系统设计与试验[J].农业机械学报,2024,55(6):68-79,12.基金项目
航天九院九部面向边远地区末端物流应用的无人机货运系统项目(202109MY-202408) （202109MY-202408）
