四旋翼吊挂变质量负载建模与控制方案设计  

Modeling and Control Scheme Design of Quadrotor Variable Mass Load System

作　　者：郗厚印 张栋 杨云霄 周涛 XI Hou-yin;ZHANG Dong;YANG Yun-xiao;ZHOU Tao(School of Information and Control Engineering,Qingdao University of Technology,Qingdao Shandong 266520,China)

机构地区：[1]青岛理工大学信息与控制工程学院,山东青岛266520

出　　处：《计算机仿真》2022年第1期60-65,101,共7页Computer Simulation

基　　金：国家自然科学基金(61703225,61803220);山东省自然科学基金(ZR2017BF033)。

摘　　要：针对四旋翼无人机吊挂变质量负载系统中存在负载摆动和外部干扰影响飞行性能的问题,设计了一种基于扩展状态观测器(ESO)和反步控制法相结合,具有内外环结构的控制方案。首先由牛顿-欧拉方程建立了四旋翼吊挂变质量负载系统的动力学模型,建立的四旋翼吊挂变质量负载系统的牛顿-欧拉动力学模型便于理解以及与实际应用相结合;其次在控制方案的外环利用ESO对负载质量变化及外部环境干扰产生的复合扰动进行实时估计,并在控制律中进行补偿,实现了水平位置的抗扰控制;控制方案的内环采用反步控制设计了稳定且抗扰性较强的姿态与高度控制律。仿真通过对所建立的数学模型施加变质量负载与外界环境干扰,验证了所设计控制方案的有效性。For quadrotor unmanned aerial vehicle hanging variable mass load system load swing and external disturbance affect flight performance, a control scheme with inner and outer cascade control structure was designed based on the extended state observer(ESO) and backstepping method. First, the dynamic model of the quadrotor variable mass load system was established based on Newton-Euler equation. The Newton-Euler dynamic model of the quadrotor variable mass load system was easy to understand and combined with practical application. Then, in the outer loop of the control scheme, ESO was used to estimate the complex disturbance caused by load mass change and external environment disturbance in real time, and realize the control of horizontal position by compensating in the control loop. A stable and robust attitude and height control law was designed for the inner loop of the control scheme using backstepping control method. The simulation experiment verified the effectiveness of the proposed control scheme by applying variable mass load and external environment interference to the established mathematical model.

关 键 词：四旋翼吊挂 变质量负载 扩张观测器 反步控制 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]