基于SO(3)空间的线性自抗扰姿态控制方法  

Linear Active Disturbance Rejection Control Method Based on SO(3)

作　　者：黄吉传 张贺[4] 缪存孝[4] HUANG Ji-chuan;ZHANG He;MIAO Cun-xiao(AVIC Chengdu Aircraft Industry(Group)Co.,Ltd,Chengdu 610092;School of Electronics and Information,Northwestern Polytechnical University,Xi’an 710129;The First Military Representative Office of the Air Force Equipment Department in Chengdu,Chengdu 610092;School of Mechanical Engineering,University of Science and Technology Beijing,Beijing 100083)

机构地区：[1]航空工业成都飞机工业(集团)公司,成都610092 [2]西北工业大学电子信息学院,西安710129 [3]空军装备部驻成都地区第一军事代表室,成都610092 [4]北京科技大学机械工程学院,北京100083

出　　处：《导航与控制》2021年第6期36-44,共9页Navigation and Control

基　　金：国家自然科学基金(编号:61603035)。

摘　　要：针对四旋翼飞行器姿态控制中非线性、强耦合及对扰动敏感的问题,提出了一种SO(3)线性自抗扰姿态控制方法,该方法可以克服传统欠驱动四旋翼控制方法中存在的抗干扰能力弱、系统建模误差对跟踪性能影响较大等弱点。基于SO(3)空间建立了四旋翼无人飞行器的非线性数学模型,避免了使用Euler角表示姿态时的奇异点问题,从而简化了控制器设计。在基于SO(3)空间非线性数学模型的基础上,提出了一种结合比例微分和线性扩展状态观测器的四旋翼无人机姿态控制方法,该方法参数整定更简单。对提出的姿态控制器进行了实验验证,实验结果表明:采用该方法后,四旋翼飞行器能够在受到外界扰动后迅速稳定姿态,其俯仰角和横滚角的稳态偏差小于1°,提高了四旋翼飞行器的抗干扰能力。Due to the characteristics of nonlinearity,strong coupling and sensitive to disturbance in attitude control of quadrotor,an attitude controller on SO(3)based on linear active disturbance rejection control(LADRC)method is proposed,which could overcome shortcomings of traditional control method for underactuated quadrotor,such as weak anti-interference ability and high sensitivity of tracking performance to modeling errors.Nonlinearity dynamic model of the quadrotor is established based on SO(3),which avoids the singularity problem caused by using Euler angle to calculate the attitude of the body,and simplifies the design process of the attitude controller.Based on the dynamic model,an attitude controller is proposed combining proportional derivative(PD)and linear expansion state observer(LESO),the parameters tuning of this method is more simpler.The proposed attitude controller is verified by experiment.The experiment results show that the proposed controller is able to stabilize the attitude after being disturbed by the outside world,the steady-state deviation of roll angle and pitch angle are less than 1°,which improves the anti-interference ability of the quadrotor.

关 键 词：四旋翼飞行器 SO(3)空间 线性自抗扰姿态控制 姿态控制器 

分 类 号：V249[航空宇航科学与技术—飞行器设计]