基于附加惯性项人群搜索算法的四旋翼无人机姿态控制研究  

Study of Seeker Optimization Algorithm with Inertia Term Self-tuning to Attitude Stability of Quadrotor UAV

作　　者：唐堂[1] 魏承赟 罗晓曙[1] 丘森辉[1] TANG Tang;WEI Chengyun;LUO Xiaoshu;QIU Senhui(College of Electronic Engineering,Guangxi Normal University,Guilin Guangxi 541004,China;Guilin Feiyu Science and Technology Incorporated Company,Guilin Guangxi 541004,China)

机构地区：[1]广西师范大学电子工程学院,广西桂林541004 [2]桂林飞宇科技股份有限公司,广西桂林541004

出　　处：《广西师范大学学报（自然科学版）》2018年第4期12-19,共8页Journal of Guangxi 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(MIMS5-06);广西信息科学实验中心自主项目(KA1430);广西研究生教育创新计划项目(XYCSZ2017051);广西科技重大专项(桂科AA18118004)

摘　　要：针对非线性自抗扰控制的控制参数多且不能自整定的缺陷,为进一步提高控制的有效性和精度,在结合四旋翼无人机自身特性的基础上,本文提出一种附加惯性项人群搜索算法与自抗扰控制结合的姿态控制算法。对搜索步长和方向的惯性系数的选取方法进行修改,来实现四旋翼无人机在受干扰情况下飞行过程的姿态控制。仿真结果分析表明:与人群搜索算法优化自抗扰控制和自抗扰控制相比,该方法提高了控制系统的动态响应、抗扰性和鲁棒性,从而对于提高四旋翼无人机的姿态控制具有良好的参考价值。In order to improve the effectiveness and accuracy of the control system and to solve the shortcomings such as too many parameters and failing to update the tuning of these control parameters timely of the nonlinear active disturbance rejection control,this paper puts forward a kind of attitude stability control method of the combination of seeker optimization algorithm with inertia term and active disturbance rejection control.The methods of inertia coefficient about the step and direction of searching are modified to achieve quadrotor UAV’s attitude control during the process disturbed flight.The simulation experiment analysis shows that when compared with the seeker optimization algorithm parameters self-tuning active disturbance rejection control and the active disturbance rejection control without self-tuning,this new control method improves the performance of the dynamic response,anti-disturbance and robustness,which has practical value to improve the attitude stability control of quadrotor UAV.

关 键 词：四旋翼无人机 自抗扰控制 人群搜索算法 抗扰性 鲁棒性 

分 类 号：TP273.2[自动化与计算机技术—检测技术与自动化装置] TP271[自动化与计算机技术—控制科学与工程]