基于干扰观测器的无人机在轨姿态控制系统设计  

Design of UAV On orbit Attitude Control System Based on Interference Observer

作　　者：夏金[1] XIA Jin(Xi’an Peihua University,Xi’an 710125 China)

机构地区：[1]西安培华学院,陕西西安710125

出　　处：《机械与电子》2021年第10期63-67,共5页Machinery & Electronics

摘　　要：针对无人机在轨姿态控制系统误差较大的问题,提出基于干扰观测器的无人机在轨姿态控制系统设计。选择STK53F406V作为微处理器的芯片,存储器选用AY54GN178M芯片,通过TIM时钟输入捕获命令进行脉冲调制信号的采集与存储。系统软件采用干扰观测器来分析无人机姿态控制中的干扰频域,从干扰的种类、精度、动态性能和飞行模式等方面对系统进行正弦波的干扰分析,将扰动与系统的控制参数控制在同一个范围内,实现对飞行状态的修正和扰动频率的正确估计。实验结果表明,基于干扰观测器的无人机姿态控制系统的抗干扰性强,耗时较短,控制性能较好。Aiming at the problem of large errors in the UAV on orbit attitude control system,a design of the UAV on orbit attitude control system based on the interference observer is proposed.STK53F406Vis chosen as the chip of the microprocessor,and AY54GN178M chip is chosen as the memory,and collect and store the pulse modulation signal is collected and stored through the TIM clock input capture command.The system software uses the interference observer to analyze the interference frequency domain in the attitude control of the UAV,and analyzes the interference of the sine wave from the interference type,accuracy,dynamic performance,flight mode,etc.,to control the disturbance and the control parameters of the system within the same range,the correction of the flight status and the correct estimation of the disturbance frequency can be realized.The experimental results show that the UAV attitude control system based on the interference observer has strong anti interference,shorter time consuming and better control performance.

关 键 词：干扰观测器 无人机在轨姿态 姿态控制 PWM脉冲调制信号 

分 类 号：TP273.2[自动化与计算机技术—检测技术与自动化装置]