基于FOADRC的四旋翼无人机姿态控制研究  

Research on Attitude Control of Quadrotor UAV Based on FOADRC

作　　者：郭金龙 姜淑华[1] GUO Jin-long;JIANG Shu-hua(School of Electronics and Information Engineering,Changchun University of Science and Technology,Changchun 130022)

机构地区：[1]长春理工大学电子信息工程学院,长春130022

出　　处：《长春理工大学学报（自然科学版）》2021年第4期71-76,共6页Journal of Changchun University of Science and Technology(Natural Science Edition)

基　　金：吉林省科技发展计划项目(20160101279JC)。

摘　　要：随着科学技术的不断进步,工业生产等领域对无人机的要求也不断提高,传统PID控制在系统中存在外界干扰无法满足无人机的控制要求。研究了一种改进的分数阶自抗扰(FOADRC)控制器方法,并将其应用在四旋翼无人机高度姿态的控制,以提高控制效果。基于传统线性自抗扰(LADRC)控制器,提出了一种基于模型的状态观测器,并结合改进型LADRC和分数阶控制(FOPD)获得FOADRC控制器,Matlab/Simulink仿真中的实验比较表明:在阶跃响应、方波跟踪、抗干扰性能等方面都比传统控制器提高10倍以上。With the continuous progress of science and technology,industrial production and other fields of UAV require-ments are also increasing;the traditional PID control system in the presence of external interference can’t meet the control requirements of UAV.In this paper,an improved fractional order active disturbance rejection(FOADRC)controller is studied and applied to the attitude control of quadrotor UAV to improve the control effect.Based on the traditional linear active disturbance rejection(LADRC)controller,a model-based state observer is proposed;and the improved LADRC controller and fractional order control(FOPD)are combined to obtain the FOADRC controller.The experimental compari-son in Matlab/Simulink simulation shows that the step response,square wave tracking and anti-interference performance are improved by more than 10 times compared with the traditional controller.

关 键 词：四旋翼无人机 分数阶控制器 自抗扰控制器 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]