无人动力伞自适应ADRC-Smith航向控制方法研究  

Adaptive ADRC-Smith control method on unmanned powered paraglider

作　　者：齐晓慧[1] 王雅平[1] 苏立军[1] 

机构地区：[1]军械工程学院无人机工程系,河北石家庄050003

出　　处：《飞行力学》2015年第2期182-186,共5页Flight Dynamics

摘　　要：无人动力伞航向控制中的延迟、惯性会导致单纯的PID控制器效果变差,甚至引起系统振荡。对此,提出了一种自适应ADRC-Smith航向控制方法。鉴于Smith预估器虽然能够消除系统延迟产生的不良影响,但其对模型的精度要求较高,因此采用自适应Smith预估方法将模型参数变化视为建模误差,对预估模型的过程增益作自适应变化,从而降低对模型精度的要求,而系统未知的延迟时间利用试验数据和三层BP网络离线辨识获得。为了进一步优化系统的调节过程,消除静态误差,将自抗扰控制与自适应Smith预估器进行了结合。通过仿真,验证了所提出的方法对具有延迟特性的无人动力伞航向控制系统具有较好的过渡过程性能、跟踪精度及一定的抗干扰能力。Unmanned powered paraglider heading control with delay and inertia characteristics will lead to poor effects on PID controller,even cause oscillation. Due to above reason,an adaptive ADRC-Smith method is proposed to control the heading of unmanned powered paraglider. Smith predictor can eliminate the negative effects of delay system,but it has higher requirement on the precision of the model. So use adaptive Smith predictor,which can take the model parameters’ change as model error,and then adjust the process gain adaptively. Use experimental data and three-layer BP network to identify unknown delay time offline. In order to further optimize the system adjusting process and eliminate static error,ADRC is combined with adaptive Smith predictor. The proposed method verified by simulation can be used for unmanned powered paraglier heading control with delay characteristics,and has good transient performance,tracking accuracy and anti-interference ability.

关 键 词：延迟系统 SMITH预估器 自抗扰控制 自适应 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]