基于串级ADRC的飞行器控制器设计与扰动估计  

Design of Quadrotor Controller Based on Cascade ADRC and Disturbance Estimation

作　　者：叶剑晓 于春梅[1,2] YE Jian-xiao;YU Chun-mei(School of Information Engineering,Southwest University of Science and Technology,Mianyang 621010,China;Robot Technology Used for Special Environment Key Laboratory of Sichuan Province,Mianyang 621000,China)

机构地区：[1]西南科技大学信息工程学院,四川绵阳621010 [2]特殊环境机器人技术四川省重点实验室,四川绵阳621000

出　　处：《测控技术》2019年第6期86-90,95,共6页Measurement & Control Technology

基　　金：教育部产学合作协同育人项目(201601019005);四川省重点实验室开放基金资助项目(13zxtk16)

摘　　要：针对四旋翼飞行器的不确定性和外界环境干扰等问题,设计串级自抗扰控制器。在分析飞行器动力学模型的基础上,利用非线性自抗扰对姿态环(内环)进行解耦,同时对位置环(外环)设计线性自抗扰控制器,组成双闭环系统。设计扩张观测器对内外环的总扰动进行估计与补偿,通过仿真平台利用定点悬停实验对所设计的控制器进行验证,并与PD-ADRC串级控制器进行对比分析,结果表明,所设计的控制器跟踪速度较快,抗扰能力较强。A cascade active disturbance rejection controller is designed to solve the problems of the quadrotor uncertainties and the external environmental interference.Based on the analysis of the dynamic model,the nonlinear active disturbance rejection was used to decouple the attitude loop(inner loop),and the linear active disturbance rejection controller was designed for the position loop(outer loop),which formed a double-closed loop.The expansion observer was designed to estimate and compensate the total disturbance of the inner and outer loops.According to the fixed-point hover experiment on simulation platform,the result suggests that the proposed controller has a fast tracking speed and strong anti-interference ability compared with the PD-ADRC cascade controller.

关 键 词：飞行器 线性自抗扰控制 非线性自抗扰控制 双闭环系统 扰动估计 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]