干扰观测器补偿的四旋翼块对角控制器  

Quadrotor Block Diagonal Controller with Disturbance Observer Compensation

作　　者：何云风 赵国荣 王元鑫 韩旭 HE Yun-feng;ZHAO Guo-rong;WANG Yuan-xin;HAN Xu(Coast Guard College Naval Aviation University,Yantai Shandong,264001 China;Qingdao Branch,Naval Aviation University,Qingdao Shandong 266100,China;91001 Unitofthe PLA,Beijing 100089,China)

机构地区：[1]海军航空大学岸防兵学院,山东烟台264001 [2]海军航空大学青岛校区,山东青岛266041 [3]91001部队,北京100089

出　　处：《计算机仿真》2022年第4期11-17,共7页Computer Simulation

摘　　要：针对四旋翼无人机大机动、强非线性、强耦合、多变量、易受外界干扰的特点,并考虑到其模型符合块对角结构,设计了干扰观测器补偿的块对角控制器。首先,针对前四个特点,并结合模型的特殊块对角结构,提出采用块对角理论对飞行控制器进行设计。然后,为提高块对角控制器的综合性能,提出将混合线性设计策略应用到控制器设计中。最后,为提高其在实际环境中的抗干扰性,引入非线性干扰观测器对干扰进行估计和补偿,得到了干扰观测器补偿的块对角控制器。仿真表明上述控制器具有很好的动态性能和跟踪性能,同时具有很好的抗干扰性和鲁棒性。According to the characteristics of quadrotor UAV with large maneuverability, strong nonlinearity,strong coupling, multivariable and susceptible to external disturbances, and considering that its model conforms to the block diagonal structure, a block diagonal controller with disturbance observer compensation was designed. Firstly,according to the first four characteristics and the special block diagonal structure of the model, the block diagonal theory was proposed to design the flight controller. Secondly, in order to improve the comprehensive performance of the block diagonal controller, the mixed linear design strategy was applied to the controller design. Finally, in order to improve its anti-interference performance in the actual environment, a nonlinear disturbance observer was introduced to estimate and compensate the disturbance, and a block diagonal controller with disturbance observer compensation was obtained. Simulation results show that the controller has good dynamic performance and tracking performance,and has good anti-interference and robustness.

关 键 词：四旋翼无人机 飞行控制器 块对角理论 混合线性设计 非线性干扰观测器 

分 类 号：V249[航空宇航科学与技术—飞行器设计]