基于反步滑模算法的植保无人机姿态控制研究  

Application of backstepping sliding mode algorithm in quadrotor UAV attitude fault-tolerant control

作　　者：冯江[1] 张慧 张喜海[1] 杨方[1] FENG Jiang;ZHANG Hui;ZHANG Xihai;YANG Fang(School of Electrical and Information,Northeast Agricultural University,Harbin 150030,China)

机构地区：[1]东北农业大学电气与信息学院,哈尔滨150030

出　　处：《东北农业大学学报》2022年第1期55-65,共11页Journal of Northeast Agricultural University

基　　金：黑龙江省自然科学基金项目(C2018023)。

摘　　要：针对植保无人机在作业时易受环境及模型参数影响,提出一种反步滑模姿态控制算法,分别在无故障干扰与有故障干扰情况下,对线性二次型调节器法(Linear quadratic regulator,LQR)控制、滑模法控制(Sliding mode control,SMC)、积分反步法控制(Integrator backstepping controller,IBC)开展仿真对比试验。结果表明,在无故障干扰下3种算法均能在较短时间内达到平稳状态,在有加性故障干扰时线性二次型调节器法控制无法快速达到平衡状态,滑模控制有抖动,积分反步法震荡较大。为解决此问题,基于反步法设计位置姿态控制律对植保无人机闭环控制回路作补偿,构造滑模观测器实时观测执行器故障情况;设计基于反步滑模控制(Backstepping sliding mode,BSM)容错控制器,并开展仿真与物理试验。可知,反步滑模控制物理实现简单、响应时间短、容错控制性强、鲁棒性好,植保作业更加精准高效。A backstepping sliding mode attitude control algorithm was put forward,and the influence of environment change and model parameter change on plant protection UAV during operation was discussed.In the case of no fault interference and fault interference,the attitude of the linear quadratic regulator(LQR)control,sliding mode control(SMC)and integrated backstepping control(IBC)were designed to carry on simulation contrast experiments.The results showed that the three control algorithms had the ability to quickly achieve stable flight under the condition of no fault interference,the linear quadratic regulator control could not reach the equilibrium state quickly when the additive fault was interfered,the sliding mode control had jitter,and the backstepping method had great shock.For the sake of solve these problems,a position and attitude control law was provided based on the backstepping method with the aim to compensate the closed loop control loop of the plant protection UAV motor,and the sliding film observer was constructed to observe the real-time fault condition of the actuator.A fault-tolerant controller based on backstepping sliding mode(BSM)was devised and simulation and physics experiment were performed as follow.The finding of this study could indicate that the backstepping sliding mode control was simple of the physical implementation and the response time was short,the fault-tolerant controllability was strong,and the robustness was preferable,which make the plant operation more accurate and efficient.

关 键 词：植保无人机 反步滑模控制 线性二次型调节器 滑模控制 积分反步法控制 

分 类 号：TP29[自动化与计算机技术—检测技术与自动化装置]