双旋翼无人机串级线性自抗扰控制  

Attitude control of tandem rotor UAV based on cascade linear active disturbance rejection control

作　　者：张勇 陈增强 张兴会[2] 孙青林 孙明玮 ZHANG Yong;CHEN Zengqiang;ZHANG Xinghui;SUN Qinglin;SUN Mingwei(School of Computer and Control Engineering,Nankai University,Tianjin 300350,China;Tianjin Sino-German University of Applied Sciences,Tianjin 300350,China)

机构地区：[1]南开大学计算机与控制工程学院,天津300350 [2]天津中德应用技术大学,天津300350

出　　处：《中南大学学报（自然科学版）》2019年第3期564-571,共8页Journal of Central South University:Science and Technology

基　　金：国家自然科学基金资助项目(61573197;61573199)~~

摘　　要：介绍线性自抗扰控制器(LADRC)和串级线性自抗扰控制器的组成结构,包括线性跟踪微分器、线性扩张状态观测器以及线性误差控制律,并给出各部分的典型算法。为了解决纵列式双旋翼无人机姿态控制系统中欠驱动、多变量、强耦合的控制问题,设计串级线性自抗扰控制器。研究结果表明:所设计的串级线性自抗扰控制器参数少,便于参数整定,能够满足控制精度及快速性的要求,并且具有较强的鲁棒性、抗干扰性能力以及对非线性强耦合系统的解耦能力。The structures of the linear active disturbance rejection controller(LADRC)and cascade linear active disturbance rejection controller were described in detail,including linear tracking differentiator,linear extended state observer and linear error control law.And the typical algorithms of the each part were given as well.In order to solve the control problems of under-actuated,multivariable and strong coupling in tandem rotor UAV attitude control system,the cascade linear active disturbance rejection controller was designed.The results show that the cascade LADRC has fewer parameters and is convenient for parameter setting,it can meet the requirement of control accuracy and rapidity,and it also has strong robustness,anti-disturbance ability and decoupling ability.

关 键 词：线性自抗扰控制器 串级控制 线性扩张状态观测器 双旋翼无人机 姿态控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]