四旋翼无人机PDF控制系统设计和抗干扰分析  

Design and Anti-interference Analysis of PDF Control System for Quadrotor UAV

作　　者：尹豪 唐猛[1] 侯凡 Yin Hao;Tang Meng;Hou Fan(College of Mechanical Engineering,Southwest Jiaotong University,Chengdu 610031,China)

机构地区：[1]西南交通大学机械工程学院,成都610031

出　　处：《计算机测量与控制》2020年第7期91-96,共6页Computer Measurement &Control

基　　金：中央高校基本科研业务理工科科技创新项目(A0920502051722-37)。

摘　　要：针对传统的PID控制方法在对四旋翼无人机进行控制时动态响应差,抗干扰能力低等局限性,不能够满足高精度要求的四旋翼无人机应用场合的问题;文章以四旋翼无人机的姿态控制为研究对象,通过采用基于伪微分反馈(PDF)控制策略来设计其飞行控制器,以提高动态响应性能和抗干扰能力;在对四旋翼无人机数学建模的基础上,将PDF控制策略引入到四旋翼姿态控制中,提出基于四旋翼无人机对象的PDF控制设计方法,并分别完成PID、PDF控制器的设计和动态仿真;通过对仿真结果比较、分析表明PDF控制与PID姿态控制器相比,系统超调量小,具有更好的鲁棒性和抗干扰能力。In view of the limitations of the traditional PID control method when controlling the quadrotor UAV,the dynamic response is poor,the anti-interference ability is low,and the quadrotor UAV application cannot meet the high precision requirements,in this paper,the attitude control of the quadruple UAV is taken as the research object,and its flight controller is designed by using the pseudo derivative feedback(PDF)control strategy to improve the dynamic response performance and anti-interference ability.Based on the mathematical modeling of quadrotor UAV,the PDF control strategy is introduced into the quadrotor attitude control,and the PDF control design method based on the quadrotor UAV object is proposed.The design and dynamic simulation of PID and PDF controller is completed respectively.By comparing and analyzing the simulation results,the PDF control is smaller than the PID attitude controller,and has better robustness and anti-interference ability.

关 键 词：四旋翼 动力学模型 伪微分反馈控制 抗扰动 姿态控制 

分 类 号：TP32[自动化与计算机技术—计算机系统结构]