无人机高机动抗扰轨迹跟踪控制方法  

Anti-disturbance trajectory tracking control method for aggressive quadrotors

作　　者：王英勋[1] 宋欣屿 赵江[1] 蔡志浩[1] WANG Yingxun;SONG Xinyu;ZHAO Jiang;CAI Zhihao(School of Automation Science and Electrical Engineering,Beihang University,Beijing 100083,China)

机构地区：[1]北京航空航天大学自动化科学与电气工程学院,北京100083

出　　处：《北京航空航天大学学报》2022年第9期1806-1817,共12页Journal of Beijing University of Aeronautics and Astronautics

摘　　要：针对传统的四旋翼控制方法在高机动飞行时控制效果不佳,难以跟踪机动性较强的轨迹且控制精度较低的问题,设计了基于增量非线性动态逆控制(INDI)方法和微分平坦前馈的轨迹跟踪控制器,不仅提高了高机动轨迹的跟踪精度,也增强了抗扰能力。由于角加速度无法直接获得,该方法对其非常敏感,设计了多种角加速度估计方法进行对比,通过飞行试验选择了效果最佳的互补滤波方法。试验结果证明:设计的基于互补滤波的前馈INDI方法可以控制飞行器快速、准确地跟踪高机动轨迹,且具有较强的抗扰能力。It is difficult for the traditional quadrotor control method with poor control effect in aggressive flight and low control accuracy to track trajectory with high speed and high acceleration.To solve this problem,a control method is proposed based on incremental nonlinear dynamic inversion(INDI)and differential flatness,as well as the complementary filter.The proposed control method not only improves the tracking accuracy of aggressive trajectories,but also enhances the anti-disturbance ability.Since the angular acceleration,which the proposed method is very sensitive to,cannot be directly obtained,a variety of angular acceleration estimation methods are designed for comparison,and the complementary filtering method with the best performance is selected through the flight test.The experimental results show that the proposed control method using INDI and differential flatness based on complementary filter can control the quadrotor to track aggressive trajectories quickly and accurately,and has strong anti-interference ability.

关 键 词：四旋翼 轨迹跟踪 增量非线性动态逆控制(INDI) 抗扰控制 角加速度估计 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]