基于线性自抗扰的四旋翼姿态控制研究  

Attitude Control of Quadrotor Based on LADRC

作　　者：周辉 李秀娟[1] 张济森 苏子康 ZHOU Hui;LI Xiujuan;ZHANG Jisen;SU Zikang(College of Automation,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)

机构地区：[1]南京航空航天大学自动化学院,江苏南京210016

出　　处：《机械制造与自动化》2022年第3期168-172,共5页Machine Building & Automation

基　　金：国家自然科学基金项目(61903190);航空科学基金项目(2019ZA052006)。

摘　　要：鉴于四旋翼强非线性耦合、易受扰动等特点,采用牛顿-欧拉法建立了风扰下的四旋翼非线性数学模型。针对风扰下四旋翼模型中存在的风扰、非线性耦合以及参数不确定性的问题,姿态角采用线性自抗扰控制,并证明其稳定性;在Matlab/Simulink环境下搭建仿真模型并验证。仿真结果表明:所设计的线性自抗扰姿态控制器在外界风扰和参数不确定性下具有良好的鲁棒性和抗干扰能力。In view of the strong nonlinear coupling and easy to be disturbed characteristics of the quadrotor,the induced velocity model is established by force analysis of the blade.The nonlinear mathematical model of the quadrotor under wind disturbance is established by Newton-Euler method.Aiming at the problems of wind disturbance,nonlinear coupling and parameter uncertainty in the quadrotor model under wind disturbance,linear active disturbance rejection control is adopted for attitude angle,and its stability is proved.The simulation model is built and verified in Matlab and Simulink environment.The simulation results show that the designed LADRC has good robustness and anti-interference ability under external wind disturbance and parameter uncertainty.

关 键 词：四旋翼 线性自抗扰控制 紊流风扰 参数不确定性 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]