旋翼飞行器抗风扰控制器设计与风场环境建模  

Design of anti-wind disturbance controller and wind environment modeling for quadrotor aircraft

作　　者：黄梦渊 王耀力 张祉怡 常青 HUANG Mengyuan;WANG Yaoli;ZHANG Zhiyi;CHANG Qing(School of Information and Computer,Taiyuan University of Technology,Taiyuan 030024,China;School of Artificial Intelligence,Beijing Normal University,Beijing 100875,China)

机构地区：[1]太原理工大学信息与计算机学院,山西太原030024 [2]北京师范大学人工智能学院,北京100875

出　　处：《电子设计工程》2022年第17期12-18,共7页Electronic Design Engineering

基　　金：国家自然科学基金资助项目(61828601);山西省自然科学基金资助项目(201801D121141);山西省重点研发项目(201903D321003)。

摘　　要：为解决旋翼室外飞行时,受风场干扰而无法稳定飞行的问题,该文通过建立风场环境下的旋翼动力学模型,设计了双自适应衰减扩展卡尔曼滤波算法;该算法的自适应衰减因子可减小陈旧数据对当前滤波值的影响,而算法的自适应协方差调整因子可实时调整噪声协方差;算法采用上述双自适应因子与PID位置控制器结合建模飞行器控制器。为进一步验证算法的有效性,该文在分析紊流风场和阵风环境模型的基础上,进行了3D风场环境仿真建模研究,同步实现了四旋翼在风场环境中的飞行姿态可视化分析;实验结果表明,控制器的均方根误差约减少了82%。该文在验证抗风干扰控制算法有效性的同时,可降低飞行控制器实验验证成本。In order to solve the problem that quadrotor can’t fly stably due to the interference of wind field when flying outdoors,a double adaptive fading extended Kalman filter algorithm is designed by establishing the dynamic model of quadrotor in wind field environment. The adaptive fading factor of the algorithm can reduce the influence of old data on the current filtering value,and the adaptive covariance adjustment factor of the algorithm can adjust the noise in real time.The algorithm uses the above two adaptive factors and PID position controller to model the aircraft controller. In order to further verify the effectiveness of the algorithm,based on the analysis of turbulent wind field and gust environment model,the 3D wind field environment simulation modeling research is carried out,and the visual analysis of quadrotor flight attitude in wind field environment is realized simultaneously;The experimental results show that the root mean square error of the controller is reduced by about 82%. This paper not only verifies the effectiveness of anti-wind interference control algorithm,but also reduces the cost of flight controller experimental verification.

关 键 词：四旋翼 动力模型 紊流模型 扩展卡尔曼滤波 双自适应因子 

分 类 号：TP29[自动化与计算机技术—检测技术与自动化装置]