摘要
四旋翼飞行器的模型不确定性和外部扰动会对其飞行控制产生重大影响。为了提高控制系统的鲁棒性和抗干扰能力,在四旋翼飞行器的双闭环控制模型的基础上,设计相应的线性自抗扰控制器(Linear Active Disturbance Rejection Controller,LADRC)。同时,采用差分进化算法(Differential Evolution,DE)优化控制器参数,解决控制器参数整定难的问题。提出一种使用莱维飞行改进差分进化算法的方法,比基本差分进化算法和引入模拟退火策略的改进方法获得更快的收敛速度。最后在整定得到的最优参数下进行四旋翼飞行器的轨迹跟踪与抗干扰仿真实验。仿真结果表明,LADRC的鲁棒性和抗干扰能力优于PID控制器。
The model uncertainty and external disturbance of quadcopter will have a significant impact on its flight control.In order to improve the robustness and anti-jamming ability of the control system,a linear active disturbance rejection controller(Linear Active Disturbance Rejection Controller,LADRC)is designed based on the double closed-loop control model of the quadcopter.The differential evolution algorithm(Differential Evolution,DE)was used to optimize the controller parameters,which solved the problem that the controller parameters were difficult to adjust.An improved differential evolution algorithm using Levi's flight was proposed,which had a faster convergence rate than the basic differential evolution algorithm and the improved method with simulated annealing strategy.The trajectory tracking and anti-jamming simulation experiments of the quadcopter were carried out under the optimized parameters.The simulation results show that the robustness and anti-interference ability of LADRC are better than PID controller.
作者
陈克胜
胡小兵
Chen Kesheng;Hu Xiaobing(College of Electronic Information and Automation,Civil Aviation University of China,Tianjin 300300,China;College of Safety Science and Engineering,Civil Aviation University of China,Tianjin 300300,China)
出处
《计算机应用与软件》
北大核心
2026年第2期134-140,共7页
Computer Applications and Software
