工业技术与职业教育2024，Vol.22Issue(3)：1-5,5.
基于LADRC扩张滑模控制的四旋翼无人机的控制方法稳定性研究
Research on the Stability of the Control Method of the Quadrotor UAV Based on LADRC Extended Sliding Mode Control
摘要
Abstract
A cascade LADRC-LESO sliding mode control method is proposed to solve the problem of external interference in the flight process of the quadrotor UAV and the problem of jitter and non-convergence of the simulation results in the simulation process.The quadrotor UAV tends to be stable during flight and has a specific anti-interference effect.To better improve the anti-interference and stability of the four-rotor UAV,the attitude controller and the position controller are designed respectively,and they are combined with the LADRC control algorithm and the sliding mode control algorithm to make the four-rotor UAV have more vital anti-interference ability during flight.By designing a linear extended observer(LESO)sliding mode controller in the X channel of the position controller,a PID controller is placed in the Y and Z channels so that the position can be stably tracked.At the same time,in the attitude controller,a linear extended observer(LESO)sliding mode controller is also designed in the three channels of pitch,roll and yaw to ensure that the total disturbance impact on the attitude angle is small so that the stability of the four-rotor UAV in flight is improved.By comparing it with the existing ADRC control algorithm and PD control algorithm,it is concluded that this method's stability and anti-interference effect are more prominent.关键词
四旋翼无人机/线性扩张观测器/滑模控制器/控制算法Key words
quadrotor drone/linear extended state observer/sliding mode controller/control algorithm分类
航空航天引用本文复制引用
宋馨怡,贾磊,潘持玉,张占一..基于LADRC扩张滑模控制的四旋翼无人机的控制方法稳定性研究[J].工业技术与职业教育,2024,22(3):1-5,5.基金项目
辽宁省教育厅面上项目"航空发动机多油门杆驱动电机的同步控制研究"(项目编号:LJKMZ20220602),主持人贾磊. （项目编号:LJKMZ20220602）
