无人直升机串级LADRC控制器设计及其视景仿真实现  

Design and visual simulation of cascade LADRC for unmanned helicopter

作　　者：刘泽群 代冀阳[1] 应进[1] 胡烽 LIU Zequn;DAI Jiyang;YING Jin;HU Feng(College of Information Engineering,Nanchang Hangkong University,Nanchang 330063,China)

机构地区：[1]南昌航空大学信息工程学院

出　　处：《现代电子技术》2020年第2期101-105,共5页Modern Electronics Technique

基　　金：国家自然科学基金资助项目（61663032）;南昌航空大学研究生创新专项资金项目资助(YC2017020)

摘　　要：针对无人直升机控制器严重非线性、强耦合的控制问题,该文基于亚拓600系列无人直升机动力学模型,设计一种改进的二阶线性自抗扰控制器。先将跟踪微分器添加到线性扩张状态观测器中,并估计影响输出结果的干扰;其次改进控制器结构与反馈补偿系数,同时针对传统仿真系统难以适应飞行控制器仿真需要的问题,完成对包括飞行控制器、视景平台的升级改进,并针对飞行控制器和视景仿真平台之间的通信交互机制进行了详细设计,使之完全等效于实际飞行场景。仿真结果表明,该系统飞行控制模块能够快速响应所输入的指令,并能够按设定的角度位置进行飞行,三维视景中直观显示所设计的控制器对于无人直升机的姿态位置有较好的控制效果。An improved second⁃order LADRC is designed based on the dynamics model of the Align 600 series unmanned helicopter to solve the serious nonlinearity and strong coupling control of the unmanned helicopter controller.The tracking differentiator is added to the linear extended state observer and the interference affecting the output is estimated.The controller structure and feedback compensation coefficient are improved.At the same time,in allusion to the problem that the traditional simulation system is difficult to adapt to the needs of flight controller simulation,the upgrade and improvement including the flight controller and the vision platform are completed.The communication interaction mechanism between the flight controller and the visual simulation platform is designed in detail to make it completely equivalent to the actual flight scene.The simulation results show that the flight control module of the system can respond quickly to the input commands,and fly according to the set angular position.The designed controller can be displayed visually in 3D scene,which has good control effect for the attitude position of the unmanned helicopter.

关 键 词：线性自抗扰控制器 飞行控制器 无人直升机 三维视景仿真 MATLAB引擎 姿态位置控制 

分 类 号：TN972-34[电子电信—信号与信息处理] TP391[电子电信—信息与通信工程]