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OA北大核心CSTPCD
Design and Experiment of Rotor Control System for Composite Wing Unmanned Aerial Vehicle Based on Improved ADRC
针对多旋翼无人机在飞行过程中容易受到各种外部扰动的影响,以复合翼无人机的旋翼控制系统为研究对象,设计了一种自抗扰控制系统.首先,建立了多旋翼无人机系统运动学模型和动力学模型;其次,对自抗扰控制算法的特点展开研究,结合无人机模型分别设计了位置和姿态控制器.并改进了扩张状态观测器,引入了更精确的动力学模型,提升了扰动观测速度和估计精度,同时,降低了扩张状态观测器的阶数,提升了控制器调参简易性;再次,依据六自由度力和力矩的平衡方程,对本文研究对象搭建了…查看全部>>
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 desi…查看全部>>
李世超;王富贵;汪善武;常天星;魏雅川
航天时代飞鹏有限公司,昆山 215300航天时代飞鹏有限公司,昆山 215300航天时代飞鹏有限公司,昆山 215300航天时代飞鹏有限公司,昆山 215300航天时代飞鹏有限公司,昆山 215300
计算机与自动化
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
composite wing unmanned aerial vehiclerotorcraft control systemactive disturbance rejection controltracking differentiatorESO
《农业机械学报》 2024 (6)
68-79,12
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)
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