摘要
为了获得更好的环境适应性,研究设计了一种主动变形四旋翼飞行器.飞行器的变形主要分为两种:机臂伸缩和折叠.为抑制系统所受内外扰动影响,设计了基于自抗扰控制(ADRC)技术的飞行控制器.首先对主动变形四旋翼结构进行设计,使用牛顿欧拉法建立风扰下系统动力学模型,然后分析阵风对系统影响以及动态变形时重心位置、惯性张量等参数的变化,接着将主动变形四旋翼系统解耦成6个SISO系统的组合并设计位姿自抗扰控制器,最后分别利用扩张状态观测器和非线性状态误差反馈律对系统所受扰动进行观测和补偿.仿真结果表明,本文所设计的基于ADRC飞行控制器的主动变形四旋翼具有优秀的位姿控制能力,在飞行过程中可以良好地进行变形,能够有效地观测变形的扰动和紊流风扰,具有较强的稳定性和抗扰性,同时对系统部分动力失效故障有较强的鲁棒性.
To obtain better environmental adaptability,this paper develops an actively deformable quadrotor which has two types of deformations:flexing and folding of the arms.A flight control system based on active disturbance rejection control(ADRC)technology is designed to restrain the internal and external disturbances of the deformable quadrotor system.Firstly,the physical structure of the actively deformable quadrotor is designed.The dynamic model of the system under wind disturbances is established using Newton Euler method.Then,during the quadrotor deformation,the influence of wind,the changes of gravity center point,inertial tensor and other parameters are analyzed.After that,the actively deformable quadrotor system is decoupled into six single-input and single-output systems,and the position and attitude controllers are designed.Finally,the disturbances of the system is observed with an extended state observer and compensated by the nonlinear state error feedback law.The simulation results illustrate the great ability of the designed actively deformable quadrotor based on active disturbance rejection flight controller to control the position and attitude of the system.Deformations can be carried out well.Its effectiveness of observing and compensating the disturbances caused by quadrotor deforming and the turbulent flow are shown.The great robustness under actuator faults is also shown.
作者
张钊
杨忠
段雨潇
廖禄伟
卢凯文
张秋雁
ZHANG Zhao;YANG Zhong;DUAN Yu-xiao;LIAO Lu-wei;LU Kai-wen;ZHANG Qiu-yan(College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing Jiangsu 211106,China;Guizhou Power Grid Company Limited,Guiyang Guizhou 550002,China)
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
2021年第4期444-456,共13页
Control Theory & Applications
基金
国家自然科学基金项目(61473144)
中国南方电网有限责任公司科技项目(066600KK52170074)
贵州省科技计划项目(黔科合支撑[2020]2Y044号)
南京航空航天大学研究生创新基地(实验室)开放基金项目(kfjj20190301)资助.
关键词
主动变形
四旋翼飞行器
动力学建模
自抗扰控制
active deformation
quadrotor
dynamics model
active disturbance rejection controller
