基于ESO-LQG-PI的无人直升机悬停姿态角控制研究  

Research on hover attitude angle control of unmanned helicopter based on ESO-LQG-PI

作　　者：张庆新[1] 朱金旭 郝晨乐 Zhang Qingxin;Zhu Jinxu;Hao Chenle(School of Artificial Intelligence,Shenyang Aerospace University,Shenyang 110136,China;School of Automation,Shenyang Aerospace University,Shenyang 110136,China)

机构地区：[1]沈阳航空航天大学人工智能学院,沈阳110136 [2]沈阳航空航天大学自动化学院,沈阳110136

出　　处：《电子测量技术》2021年第24期14-19,共6页Electronic Measurement Technology

基　　金：国家自然科学基金(61811530036);辽宁省教育厅重点攻关项目(JYT19002)资助。

摘　　要：为了提高无人直升机姿态角的控制精度,增强抗干扰能力,本文根据TREX 700L无人直升机机型,提出了一种ESO-LQG-PI的控制方法。考虑到直升机系统的高度非线性,采用了小扰动增量线性化处理方法。利用扩张状态观测器(ESO)对系统扰动进行实时估计并补偿,通过增加比例积分(PI)控制器来减小输入信号造成的稳态误差,使用线性二次高斯(LQG)控制器找到最优的控制增益。实验表明,采用LQG-PI和ESO相结合的控制技术设计的无人直升机悬停姿态控制器提高了控制系统的控制精度,姿态角的误差范围在±0.5°,能较好地实现直升机悬停控制,具有抗干扰能力。In order to improve the control accuracy of attitude angles and enhance the anti-interference ability of unmanned helicopter,a novel ESO-LQG-PI control method for TREX 700 L helicopter is proposed.By considering the high non-linearity of the helicopter system,a class of small disturbance incremental linearization processing approach is adopted.Meanwhile,an extended state observer(ESO)is used to estimate and compensate the system disturbance in real time.The proportional integral(PI)controller is added to reduce the steady-state error caused by input signals,then linear quadratic Gaussian(LQG)controller is presented to obtain the optimal control gain.Summing up the advantages of PI and LQG,this paper proposes an ESO-LQG-PI control method.The experimental results show that the hovering attitude controller of unmanned helicopter improves the control precision of the control system,the error range of attitude angle is±0.5°.It can realize the hovering control of the helicopter well,and has anti-interference ability.

关 键 词：LQG-PI控制器 姿态角控制 直升机建模 扩张状态观测器 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]