基于改进ESO的四旋翼姿态自抗扰控制器设计  

Design of quadrotor attitude active disturbance rejection controller based on improved ESO

作　　者：杨文奇 卢建华 姜旭 王元鑫 YANG Wenqi;LU Jianhua;JIANG Xu;WANG Yuanxin(School of Basic Sciences for Aviation,Naval Aviation University,Yantai 264000,China;Campus of Qingdao,Naval Aviation University,Qingdao 266000,China)

机构地区：[1]海军航空大学航空基础学院,山东烟台264000 [2]海军航空大学青岛校区,山东青岛266000

出　　处：《系统工程与电子技术》2022年第12期3792-3799,共8页Systems Engineering and Electronics

基　　金：青年科学基金(61903374)资助课题。

摘　　要：针对四旋翼无人机姿态自抗扰控制(active disturbance rejection control,ADRC)系统在姿态角测量反馈信号受传感器噪声污染时,基于传统非线性非光滑fal函数的扩张状态观测器(extended state observer,ESO)观测精度不足的问题,构建了一种新型非线性光滑galn函数以重新设计ESO,并利用Matlab/Simulink仿真软件进行性能验证。仿真结果表明:与传统fal函数相比,本文构建的galn函数为光滑且具有更好的收敛性,更能体现“大误差小增益”的工程思想;基于galn函数设计的改进型ESO具有更强的误差跟随能力;采用改进型ESO设计的四旋翼姿态ADRC系统具有更好的跟踪能力和抗干扰能力。For the attitude active disturbance rejection control(ADRC)system of quadrotor unmanned aerial vehicle(UAV),when the feedback signal of attitude angle measurement is polluted by sensor noise,the extended state observer(ESO)of the traditional nonlinear nonsmoothed fal function is not accurate enough.Based on this problem,a new nonlinear smooth galn function is constructed to redesign ESO,and the performance is verified by Matlab/Simulink simulation software.The simulation results show that compared with the traditional fal function,the galn function constructed is smooth and has better convergence,and can better reflect the engineering idea of“large error and small gain”.The improved ESO based on galn function has stronger error following capability.The quadrotor attitude ADRC system designed by improved ESO has better tracking and anti-jamming capability.

关 键 词：四旋翼无人机 扩张状态观测器 自抗扰控制 galn函数 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]