摘要
针对无人直升机抗风性能不足的问题,将自抗扰控制方法应用于无人直升机位置控制律,该位置控制律在常规内外回路控制架构的基础上,外回路采用非线性反馈,利用扩张状态观测器(ESO)进行动态扰动补偿。此文详细阐述了设计方法和工程应用问题。半物理仿真结果表明,该控制方案具有较强的抗扰动性,位置控制精度得到显著提升。
Aiming at the lack of wind resistance, the auto-disturbances-rejection controller （AD- RC） was proposed to design position control law for UAH, in which nonlinear PID was used in outer loop and extended state observer（ESO） was used to compensate the disturbance dynamically. The position control law is based on internal and external loop control structure. This paper described the design method and analyzed the potential problems of application in detail. The simulation results showed that ADRC control law has higher anti-disturbance performance and higher position control accuracy.
出处
《直升机技术》
2014年第2期36-40,共5页
Helicopter Technique
