横列式双旋翼矢量飞行器的改进ADRC姿态控制算法  

Improved ADRC attitude control algorithm for tilting dual-fan vector aircraft

作　　者：杨立本 魏文军 杨剑锋 李泰国 王栋 YANG Liben;WEI Wenjun;YANG Jianfeng;LI Taiguo;WANG Dong(College of Automation and Electrical Engineering,Lanzhou Jiaotong University,Lanzhou 710072,China;510 Research Institute of the Fifth Research Institute of China Aerospace Science and Technology Group,Lanzhou 710072,China)

机构地区：[1]兰州交通大学自动化与电气工程学院,甘肃兰州710072 [2]中国航天科技集团第五研究院510研究所,甘肃兰州710072

出　　处：《系统工程与电子技术》2021年第10期2976-2983,共8页Systems Engineering and Electronics

基　　金：国家自然科学基金(61863023);甘肃省自然科学基金(21JR1RA235)资助课题。

摘　　要：横列式双旋翼矢量飞行器具备飞行时间长、风阻小、机动性强等优点,但其机械结构复杂,状态之间耦合严重,抗干扰能力弱。针对其控制特性提出一种基于改进自抗扰控制(active disturbance rejection control,ADRC)的姿态抗干扰解耦控制算法,该算法利用扩张状态观测器(extended state observer,ESO)实现姿态干扰和状态间耦合项的跟踪和估计,将非线性多输入多输出(multiple input multiple output,MIMO)系统转化成线性单输入单输出(single input single output,SISO)系统,采用改进的粒子群优化算法(particle swarm optimization,PSO)对姿态控制系统进行参数优化。通过仿真结果验证了该算法具备良好的抗干扰能力,并设计了实际的飞行控制系统,进行了飞行器的悬停试验,实现了稳定悬停。The tilting dual-fan vector Unmanned aerial vehicle has the advantages of long flight time,small wind resistance and strong maneuverability,but its mechanical structure is complex,the coupling between the states is serious,and the anti-interference ability is weak.According to its control characteristics,an antiinterference decoupling control algorithm based on improved active disturbance rejection control(ADRC)is proposed,extended state observer(ESO)is used to track and estimate the attitude disturbance and the coupling term between states.The nonlinear multiple input multiple output(MIMO)system was transformed into linear single input single output(SISO)system.An improved particle swarm optimization(PSO)algorithm is used to optimize the parameters of the attitude control system,the simulation results showed that the algorithm has good ability of resisting external disturbance and coupling disturbance,the actual flight control system is designed and the hovering test of the aircraft is carried out,the stable hovering of the aircraft is realized.

关 键 词：双旋翼 可倾转 自抗扰控制 动态反馈线性化 干扰估计 

分 类 号：V249[航空宇航科学与技术—飞行器设计]