基于改进fal函数的无人直升机姿态自抗扰研究  

Active Disturbance Rejection Control for Attitude of Unmanned Helicopter Based on Improved fal Function

作　　者：华桑暾 邱亚峰[1] 陈成[1] HUA Sangtun;QIU Yafeng;CHEN Cheng(School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210000,China)

机构地区：[1]南京理工大学机械工程学院,南京210000

出　　处：《电光与控制》2022年第4期1-6,共6页Electronics Optics & Control

基　　金：国防预研基金(1171011485)。

摘　　要：为提高无人直升机的姿态控制能力,针对fal函数拐点处不平滑易引起系统抖振、误差较大时系统增益较大等问题,提出一种改进fal函数,改写非线性误差反馈律,并重新应用于自抗扰控制中得到改进ADRC算法。基于已建立的无人直升机动力学模型,通过Matlab/Simulink进行姿态角跟踪以及在白噪声和阶跃干扰下的抗干扰仿真。仿真结果表明,改进fal函数在拐点处具有更好的平滑性,基于改进fal函数的ADRC在无人直升机姿态角跟踪中依旧具有良好的响应速度和超调性,抗干扰能力较传统ADRC更好。This paper tries to improve the attitude control ability of the unmanned helicopter.The fal function is not smooth at the inflection point,which may cause system chattering,and the system gain is large when the error is large.To solve the problems,an improved fal function is proposed to rewrite the nonlinear error feedback law,and it is re-applied to Active Disturbance Rejection Control(ADRC) to obtain an improved ADRC.Based on the established dynamics model of an unmanned helicopter,the attitude angle tracking and anti-jamming simulations under white noise and step interference are conducted on Matlab/Simulink.The simulation results show that: 1) The improved fal function is smoother at the inflection point;and 2) The ADRC based on the improved fal function still has good response speed and low overshoot in the attitude angle tracking of the unmanned helicopter,and its anti-jamming ability is better than that of the traditional ADRC.

关 键 词：动力学模型 改进fal函数 自抗扰控制 姿态控制 

分 类 号：V279[航空宇航科学与技术—飞行器设计] TP273[自动化与计算机技术—检测技术与自动化装置]