丁力,马瑞,单文桃,吴洪涛.小型无人直升机航向线性自抗扰控制[J].农业机械学报,2017,48(5):22-27.
DING Li,MA Rui,SHAN Wentao,WU Hongtao.Linear Active Disturbance Rejection Control for Yaw Channel of Small-scale Unmanned Helicopter[J].Transactions of the Chinese Society for Agricultural Machinery,2017,48(5):22-27.
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小型无人直升机航向线性自抗扰控制   [下载全文]
Linear Active Disturbance Rejection Control for Yaw Channel of Small-scale Unmanned Helicopter   [Download Pdf][in English]
投稿时间:2016-08-25  
DOI:10.6041/j.issn.1000-1298.2017.05.002
中文关键词:  小型无人直升机  线性自抗扰控制  人工蜂群算法  参数整定  轨迹跟踪
基金项目:国家自然科学基金青年基金项目(51405209)
作者单位
丁力 江苏理工学院 
马瑞 南洋理工大学
南京航空航天大学 
单文桃 江苏理工学院 
吴洪涛 南京航空航天大学 
中文摘要:针对小型无人直升机航向系统存在内部不确定性和外部扰动大的问题,提出了一种基于线性自抗扰控制(LADRC)算法来实现航向通道高性能控制方法。首先,分析和推导了Trex—600型无人直升机的航向模型,并引入阵风模型模拟实际飞行环境。然后,根据LADRC的控制原理设计了基于二阶LADRC的航向控制系统,并利用人工蜂群算法对控制器参数进行了整定。最后,对所设计的控制策略进行了仿真分析与实验验证,实现了无人直升机航向通道的轨迹跟踪控制,并与常见的PID控制进行了比较。结果表明:设计的LADRC控制器鲁棒性好、响应时间快、控制精度高,能够使Trex—600型无人直升机的航向角快速、精确地跟踪参考轨迹。
DING Li  MA Rui  SHAN Wentao  WU Hongtao
Jiangsu University of Technology,Nanyang Technological University;Nanjing University of Aeronautics and Astronautics,Jiangsu University of Technology and Nanjing University of Aeronautics and Astronautics
Key Words:small-scale unmanned helicopter  linear active disturbance rejection control  artificial bee colony algorithm  parameters tuning  trajectory tracking
Abstract:Small-scale unmanned helicopter has a peculiar flight feature of vertically take-off and landing, fixed position hovering, flying in low velocity, forward flight, rearward flight and so on. It is mainly used for civilian and military field with the advantage of light weight, low price and small scale. However, the small-scale unmanned helicopter is a strong coupled, under actuated, multivariable, time varying, open-loop unstable and high order nonlinear system. It is a great challenge to realize the research of its autonomous flight. Aiming at the internal uncertainties and large disturbance of the small-scale unmanned helicopter, a controller for yaw channel based on linear active disturbance rejection controller (LADRC) was proposed to realize the high performance control. Firstly, the yaw model of Trex—600 unmanned helicopter was analyzed and deduced, and the gust model was introduced to simulate the actual flight environment. Then, the principle of LADRC was elaborated and the yaw control system was designed based on LADRC of second order. In order to obtain the appropriate control parameters, the novel artificial bee colony algorithm was applied to conduct parameters tuning. Lastly, a trajectory tracking simulation and experiment were used to test the proposed controller compared with the PID controller. The results showed that the LADRC controller had the ability of good robustness, fast response and high control precision. The yaw angle of the Trex—600 unmanned helicopter can track the referenced trajectory fleetly and accurately.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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