可倾转六旋翼飞行器自抗扰控制技术研究  

Research on active disturbance rejection control technology for a kind of hexrotor with tiltable rotors

作　　者：廖禄伟 杨忠[1] 王灿 许昌亮 王志永 徐浩 张秋雁 LIAO Luwei;YANG Zhong;WANG Can;XU Changliang;WANG Zhiyong;XU Hao;ZHANG Qiuyan(College of Automation,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China;Guizhou Power Grid Company Limited,Guiyang 550002,China)

机构地区：[1]南京航空航天大学自动化学院,江苏南京211106 [2]贵州电网有限责任公司,贵州贵阳550002

出　　处：《应用科技》2023年第2期100-107,113,共9页Applied Science and Technology

基　　金：贵州省科技计划项目(黔科合支撑[2020]2Y044号);中国南方电网有限责任公司科技项目(066600KK52170074);航空科学基金(重点实验室类)项目(201928052006);南航研究生科研与实践创新计划项目(XCXJH20210316).

摘　　要：针对传统的多旋翼存在力和力矩的耦合,难以实现线运动和角运动解耦控制的问题,本文研究设计了一种可六自由度独立控制的倾转六旋翼飞行器(HTR)。为提高控制性能和抑制系统所受内外扰动影响,设计了基于自抗扰控制(ADRC)技术的飞行控制器。首先对HTR构型进行设计,使用牛顿欧拉法建立HTR动力学模型;接着针对HTR过驱动的特性,通过变量代换对控制分配矩阵进行线性化处理;最后将HTR解耦为6个单输入单输出系统的组合,分别设计位姿自抗扰控制器,来克服系统内部存在的不确定因素、通道耦合和外部扰动问题。仿真结果表明,本文设计的自抗扰控制器具有良好的线运动和角运动独立控制能力,提高了系统的控制精度和抗扰性。Traditional multiple rotors have the coupling of force and torque,and it is difficult to realize the decoupling control of linear motion and angular motion.To solve this problem,this paper studies and designs a six degree of freedom independently controlled hexrotor with tiltable rotors(HTR).A flight controller based on active disturbance rejection control(ADRC)technology is designed to enhance the control performance and suppress the influence of internal and external disturbances on the system.Firstly,the HTR configuration is designed,and the HTR dynamic model is established by the Newton Euler method.Then,according to the characteristics of HTR overdrive,the control allocation matrix is linearized by variable substitution.Finally,the HTR is decoupled into a combination of six single input single output systems,and the posture ADRC is designed respectively to overcome the problems of internal uncertainty,channel coupling and external disturbance.The simulation results show that the ADRC designed in this paper has good independent control ability of linear motion and angular motion,which improves the control accuracy and immunity of the system.

关 键 词：倾转六旋翼 动力学模型 解耦 控制分配 过驱动 自抗扰控制 独立控制 仿真实验 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]