摘要
针对欠驱动四轴飞行器控制系统在轨迹跟踪过程中存在参数不确定和易受外部干扰等问题,这里采用一种PID控制、非线性自抗扰控制(NLADRC)和PD控制技术相结合的控制方式对其位置和姿态进行控制,以偏航通道为例实现了扩张状态观测器(ESO)对内扰和外扰的估计及补偿。首先,根据四轴飞行器模型特点,实现了适用于4通道的参数整定方案,大大简化了参数整定难度;然后,设计了内外双环路控制器,其外环由PID控制,内环由ADRC和PD控制;最后,通过与串级PID控制在轨迹跟踪及抗扰性、鲁棒性方面进行仿真对比分析,结果表明该控制方法能够满足四轴飞行器在稳定度高和姿态调节快速性等方面的要求,自抗扰控制器能够对扰动进行很好地估计和补偿。
In order to solve the problems of uncertainty and easy to be affected by external interference in the trajectory tracking of underactuated quad-rotor aircraft system,PID control,a nonlinear Active Disturbance Rejection Control(NLADRC)and PD con⁃trol is designed to control its position and attitude,taking the yaw channel as an example,and the estimation and compensation of disturbances by Extended State Observer(ESO)are realized.Firstly,according to the characteristics of aircraft model,a pa⁃rameter tuning scheme suitable for four channels is realized,which greatly simplifies the difficulty of parameter tuning;Then,the inner and outer double loop controller is designed.The outer loop is controlled by PID,and the inner loop is controlled by ADRC and PD;Finally,through the simulation and comparative analysis with cascade PID control in trajectory tracking,im⁃munity and robustness,the results show that the control method can meet the requirements of four-axis aircraft in high stability and fast attitude adjustment,and the ADRC can estimate and compensate the disturbance well.
作者
赵志伟
尤小庆
王蕾
葛超
ZHAO Zhiwei;YOU Xiaoqing;WANG Lei;GE Chao(College of Electrical Engineering,North China University of Science and Technology,Hebei Tangshan 063210,China;Computer science&Technology,Tangshan University,Hebei Tangshan 063010,China;Intelligence and Information Engineering College,Tangshan University,Hebei Tangshan 063010,China)
出处
《机械设计与制造》
北大核心
2025年第1期331-334,339,共5页
Machinery Design & Manufacture
基金
国家自然科学基金(NSFC61503120)
河北省自然科学基金(F2021209006)
河北省自然科学基金—钢铁联合研究基金资助项目(E2019105123)
河北省高等学校科学技术研究项目资助(ZD2019311)
唐山市人才资助项目(A2021110015)。
关键词
四轴飞行器
自抗扰
参数整定
估计补偿
姿态控制
Quad-Rotor Aircraft
ADRC
Parameter Tuning
Estimated and Compensation
Attitude Control
