基于改进型自抗扰控制的复合翼无人机旋翼控制系统设计与试验
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航天九院九部面向边远地区末端物流应用的无人机货运系统项目(202109MY-202408)


Design and Experiment of Rotor Control System for Composite Wing Unmanned Aerial Vehicle Based on Improved ADRC
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    摘要:

    针对多旋翼无人机在飞行过程中容易受到各种外部扰动的影响,以复合翼无人机的旋翼控制系统为研究对象,设计了一种自抗扰控制系统。首先,建立了多旋翼无人机系统运动学模型和动力学模型;其次,对自抗扰控制算法的特点展开研究,结合无人机模型分别设计了位置和姿态控制器。并改进了扩张状态观测器,引入了更精确的动力学模型,提升了扰动观测速度和估计精度,同时,降低了扩张状态观测器的阶数,提升了控制器调参简易性;再次,依据六自由度力和力矩的平衡方程,对本文研究对象搭建了控制分配模型。最终,采用Matlab/Simulink完成仿真模型设计和参数调节,对控制目标分别加入了内部重力扰动和外部风力扰动,仿真结果表明本文设计的控制器不仅可以很好地估计出系统内外扰动并进行补偿,而且具有极强的抗干扰性,可以保证无人机从初始点快速且平稳到达目标位置,并保持稳定悬停,姿态控制稳态误差在0.05°以内。

    Abstract:

    Aiming at the vulnerability of multi-rotors drones to various external disturbances during flight, an active disturbance rejection control (ADRC) system was designed for a rotor control system of composite wing unmanned aerial vehicle (UAV) as the research object. Firstly, the kinematics and dynamics models of the multi-rotor drone system were established. Secondly, the characteristics of the ADRC algorithm were studied, and position and attitude controllers were designed in combination with the drone model. The extended state observer (ESO) was improved by introducing a more accurate dynamic model, which enhanced the disturbance observation speed and estimation accuracy. At the same time, the order of the extended state observer was reduced, and the simplicity of controller parameter tuning was improved. Furthermore, based on the six-degree-of-freedom force and moment balance equation, a control allocation model was built for the research object. Finally, Matlab/Simulink was used to complete the simulation model design and parameter adjustment. Internal gravity disturbance and external wind disturbance were added to the control targets. The simulation results showed that the controller designed could not only estimate and compensate for the internal and external disturbances of the system, but also had strong anti-interference ability, which could ensure that the drone reached the target position quickly and smoothly from the initial point, and maintained stable hovering. The steady-state error of attitude control was within 0.05°.

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李世超,王富贵,汪善武,常天星,魏雅川.基于改进型自抗扰控制的复合翼无人机旋翼控制系统设计与试验[J].农业机械学报,2024,55(6):68-79. LI Shichao, WANG Fugui, WANG Shanwu, CHANG Tianxing, WEI Yachuan. Design and Experiment of Rotor Control System for Composite Wing Unmanned Aerial Vehicle Based on Improved ADRC[J]. Transactions of the Chinese Society for Agricultural Machinery,2024,55(6):68-79.

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  • 收稿日期:2023-10-24
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  • 在线发布日期: 2024-06-10
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