基于LESO的PID-RSLQR四旋翼姿态控制研究  

Linear Extended State Observer-based PID-robust Servo LQR Attitude Control for Quadrotor UAV

作　　者：张峰 谢习华[1,2] ZHANG Feng;XIE Xihua(State Key Laboratory of High Performance Complex Manufacturing,Central South University,Changsha 410083,China;Hunan Sunward Aircraft Co.,Ltd.,Zhuzhou 412000,China)

机构地区：[1]中南大学机电工程学院高性能复杂制造实验室,湖南长沙410083 [2]湖南山河科技股份有限公司,湖南株洲412000

出　　处：《信息与控制》2020年第3期267-273,共7页Information and Control

基　　金：湖南省重点研发计划资助项目(2016GK2067)。

摘　　要：为提高四旋翼无人机的飞行稳定性和系统的鲁棒性与控制精度,将姿态控制分成两个控制环路,即角度环路与角速率环路,针对姿态角、姿态角速率分别设计PID控制器与鲁棒伺服LQR(RSLQR)控制器组成双闭环回路姿态控制.考虑到四旋翼在飞行过程中受到的外部不确定性扰动和内部模型误差等因素的存在,在姿态角速率环加入一阶线性扩张状态观测器(LESO)来实时观测外扰和内扰并对其进行补偿.通过仿真和实验对比,验证了所提出算法的有效性和鲁棒性.In order to improve the flight stability,robustness and control accuracy of the quadrotor UAV,attitude control is divided into two control loops,namely,angle loop and angular rate loop.For attitude angle and angular rate,PID controller and LQR controller are designed respectively to form double closed-loop attitude control.Considering the external uncertainties and internal modeling errors of the quadrotor during flight,a first-order linear extended state observer(LESO)is added to the attitude rate loop to observe and compensate the external and internal disturbances in real time.The effectiveness and robustness of the proposed algorithm are verified by simulation and experimental comparison.

关 键 词：四旋翼无人机 姿态控制 PID控制 RSLQR控制器 扩张状态观测器 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]