四旋翼无人机自抗扰飞行控制器研究  

Application of active disturbance rejection control in quadrotor flight control system

作　　者：朱家远 杨忠[1] 许昌亮 徐浩 李劲松 ZHU Jiayuan;YANG Zhong;XU Changliang;XU Hao;LI Jinsong(College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China)

机构地区：[1]南京航空航天大学自动化学院,江苏南京211106

出　　处：《应用科技》2019年第1期29-35,42,共8页Applied Science and Technology

基　　金：国家自然科学基金项目(61473144).;航空科学基金重点实验室类项目(20162852031);科技部重大科学仪器设备开发专项(2016YFF0103702)

摘　　要：为了提高飞行过程的抗扰动能力,针对四旋翼无人机自抗扰飞行控制器设计,分析自抗扰控制基本原理及其参数调节规律,在此基础上,改写四旋翼无人机动力学模型,引入虚拟控制量对位置和姿态进行控制解耦,应用扩张状态观测器实现状态解耦和扰动估计。最终得到四旋翼无人机双闭环自抗扰飞行控制器,实现对其位置和姿态的闭环控制。仿真实验结果表明,所设计控制器具有良好的解耦效果、抗干扰能力和鲁棒性能,可以实现对四旋翼无人机的飞行控制。For the purpose of improving anti-disturbance ability of the quadrotor UAV during flight stages,the main principle of active disturbance rejection control and the parameter adjustment experience are summarized.According to the general design progress of active disturbance rejection controller,the quadrotor dynamic model was rewritten.The virtual control variable was introduced for decoupling control of position and attitude,and the extended state observer was used for state decoupling and disturbance estimation.Finally,the quadrotor double closed-loop active disturbance rejection flight controller was completed,realizing the control over the position and attitude.The simulation results show that the designed controller has good decoupling effect,anti-disturbance ability and robust performance,and can realize the flight control of quadrotor.

关 键 词：四旋翼无人机 自抗扰控制 虚拟控制量 X模式 位置控制器 姿态控制器 双闭环控制 解耦控制 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]