推力矢量倾转三旋翼飞行器的自抗扰跟踪控制方法  

ACTIVE DISTURBANCE REJECTION TRACKING CONTROL METHOD OF A THRUST-VECTORED TILT TRI-ROTOR

作　　者：胡丹丹[1] 管若乔 Hu Dandan;Guan Ruoqiao(Robotics Institute,Civil Aviation University of China,Tianjin 300300,China)

机构地区：[1]中国民航大学机器人研究所,天津300300

出　　处：《计算机应用与软件》2022年第9期94-100,120,共8页Computer Applications and Software

基　　金：国家自然科学基金委员会中国民航局民航联合研究基金项目(U1533203);中央高校基本科研业务费项目(3122017003)。

摘　　要：针对常规倾转三旋翼在多旋翼模式下飞行器跟踪精度易受结构影响、难以抵抗外界干扰的问题,研究一种推力矢量倾转三旋翼飞行器系统。对倾转角导致的控制分配时变的问题,利用一种变量代换及广义逆的方法实现了高效控制分配解算。为克服系统易受气动干扰及外部风扰而影响轨迹跟踪精度的问题,设计一种自抗扰跟踪控制器。仿真结果表明,机体在外界风扰作用下仍可以快速准确地跟踪参考轨迹,该控制方案具有较好的鲁棒性和抗扰性。To solve the problem that the tracking accuracy of conventional tilt tri-rotor system in multi rotor mode is easily affected by the structure and difficult to resist external interference,a thrust-vectored tilt tri-rotor aircraft system is studied.For the problem of time-varying control assignment caused by the angle of inclination,a method of variable substitution and generalized inverse was used to realize the efficient control assignment solution.An auto disturbance rejection tracking controller was designed to overcome the problem that the tracking accuracy was affected by aerodynamic disturbance and external wind disturbance.The simulation results show that the UAV can still track the reference trajectory quickly and accurately under the external wind disturbance,which verifies the robustness and immunity of the proposed control scheme.

关 键 词：倾转三旋翼 推力矢量 自抗扰 轨迹跟踪 控制分配 

分 类 号：TP391.8[自动化与计算机技术—计算机应用技术]