四旋翼飞行器线性自抗扰控制  

Linear Active Disturbance Rejection Control for Quad-rotor Aircraft

作　　者：汤帅 陈奕梅[1] TANG Shuai;CHEN Yi-mei(School of Electrical Engineering and Autonmtion,Tianjin Polytechnic University,Tianjin 300387,China)

机构地区：[1]天津工业大学电气工程与自动化学院,天津300387

出　　处：《电光与控制》2018年第10期78-83,共6页Electronics Optics & Control

基　　金：国家自然科学基金(61603271);天津市自然科学基金(15JCYBJC47800;16JCQNJC03800)

摘　　要：针对Qball2四旋翼无人飞行器欠驱动、参数不确定、强耦合等特性,采用一种跟踪微分器(TD)与线性自抗扰算法(LADRC)结合的控制方法,LADRC包括线性组合环节(PD)和线性扩张状态观测器(LESO)两个部分。LESO对系统内扰和外扰进行实时观测和动态补偿,从而将复杂的Qball2系统简化为串联积分形式。LADRC参数整定简单,而TD的引入使系统具有良好的快速性和鲁棒性。仿真和Qball2平台实验结果表明,所设计的控制器能满足系统的动态性能和稳态性能要求。Aiming at the problems of Qball2 quad-rotor UAV of under-actuation, uncertain parameters, and strong coupling, a control method is proposed combining Tracking Differentiator （TD） with Linear Active Disturbance Rejection Control （LADRC）. The LADRC is composed of two parts ： Linear Combination （PD） and Linear Expansion State Observer （LESO）. LESO makes real-time observation and dynamic compensation for the internal and external disturbances, thus the complex Qball2 system can be simplified to a series of integral forms. The LADRC parameter tuning is simple, and the introduction of TD makes the system fast and robust. The simulation and Qball2 experiment results show that the designed controller can satisfy the requirements of the system on dynamic performance and steady-state performance.

关 键 词：四旋翼无人飞行器 QbalE 线性自抗扰算法 线性扩张状态观测器 跟踪微分器 快速性 

分 类 号：V275.1[航空宇航科学与技术—飞行器设计] TP273[自动化与计算机技术—检测技术与自动化装置]