基于ADRC的四旋翼无人机姿态控制研究  

The Research on Attitude Stability Control of Quadrotor Unmanned Aerial Vehicle Based on ADRC

作　　者：钟海鑫 陆倩[1] 丘森辉[1] 罗晓曙[1] 

机构地区：[1]广西师范大学电子工程学院,广西桂林541004

出　　处：《江西师范大学学报（自然科学版）》2017年第1期67-72,共6页Journal of Jiangxi Normal University(Natural Science Edition)

基　　金：国家自然科学基金(11262004);广西多源信息挖掘与安全重点实验室开放基金(MIMS15-06);广西信息科学实验中心基金(KA1430)资助项目

摘　　要：四旋翼无人机由于受到自身的非线性、模型的不确定性和外部突发气流等的影响,较难完成预设的飞行任务.为此,使用自抗扰控制,通过安排合理的过渡过程减少超调和设计扩张状态观测器来估计总扰动并实时补偿,并实现四旋翼无人机姿态控制.仿真结果表明:相比传统PID控制,该控制方法使得四旋翼无人机能够更好地适应自身参数的变化和应付外部气流带来的影响,具有更好的鲁棒性和抗扰性.同时验证了自抗扰控制器下的系统具有超调小、精度高、收敛速度快、抗扰能力强和鲁棒性能好等特点.Due to the influences of the nonlinearity,the uncertainty of the mode and sudden external turbulence,the Quadrotor Unmanned Aerial Vehicle（ QUAV）,generally,cannot complete the preset missions. In order to solve these problems,QUAV attitude stability control is proposed by ADRC,which is the arrangement of a reasonable transition process to reduce the overshoot and the design of Extended State Observer（ ESO） to estimate disturbances and compensate them in real time,realizing its attitude control. Simulation results show that compared with the performance of PID control,this control method can better adapt to changes in its parameters and can cope with the impact brought by the external flow preferably and has higher robustness and disturbance rejection. Simulation results show that this control method can better handle with the sudden disturbance. It is also verified that the control system based on ADRC has some characteristics such as small overshoot,high precision,fast rate of convergence,strong anti-disturbance,and good robust performance,etc.

关 键 词：自抗扰控制 四旋翼无人机 抗扰性 鲁棒性 PID控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]