太阳能无人机线性自抗扰多环路能源控制  

Multi⁃loop energy control method of linear active disturbance rejection for solar⁃powered UAVs

作　　者：邵嘉琪 张晓辉[1] 席涵宇 刘子荣 SHAO Jiaqi;ZHANG Xiaohui;XI Hanyu;LIU Zirong(School of Aerospace Engineering,Beijing Institute of Technology,Beijing 100081,China)

机构地区：[1]北京理工大学宇航学院,北京100081

出　　处：《航空学报》2023年第10期271-283,共13页Acta Aeronautica et Astronautica Sinica

基　　金：航空科学基金(2020Z005072001)。

摘　　要：针对太阳能无人机的太阳能/锂电池混合能源系统高能效管理与控制问题,提出了一种基于线性自抗扰控制(LADRC)的多环路控制方法,动态控制能源系统电压/电流,实现太阳能高效利用的同时,避免锂电池过度充电。其核心思想是采用LADRC方法主动消除系统扰动,提高控制器鲁棒性和稳定性,快速稳定响应太阳能无人机机动过程辐照和载荷动态变化;设计最大功率点跟踪(MPPT)环路、稳压环路和限流环路联合控制方法,实现能源管理控制器多个状态量同时控制;通过引入竞争机制,解决控制器工作模式频繁跳变问题。首先,建立了用于MPPT环路控制的LADRC控制器模型,与PI方法进行了动态响应对比测试。然后,搭建了太阳能机翼所受辐照与飞行姿态耦合的太阳能/锂电池混合能源控制试验平台,对所提出的多环路控制方法进行八边形航线飞行模拟测试。最后,试验结果表明:相比于PI方法,基于LADRC方法的多环路控制系统的最大功率点跟踪时间可减少40%~70%,且控制系统更加稳定,瞬态响应加快;在飞行模拟测试过程中,所提多环路控制方法能够根据飞行载荷和电池电量状态平滑切换控制器工作模式,使光伏系统始终以最佳能效输出,研究结果可以为太阳能无人机的高能效飞行提供一种理论基础和工程技术支持。To achieve high-efficiency management and control of solar cell/lithium battery hybrid energy systems for solar-powered UAVs,we propose a multi-loop control method based on Linear Active Disturbance Rejection Control(LADRC)to dynamically control the voltage/current of the power system,realizing efficient use of solar energy and avoiding overcharging of lithium batteries.The LADRC method is used to actively eliminate the system disturbance,improve the robustness and stability of the controller,and quickly and stably respond to the external dynamic changes during the maneuvering process of the solar UAV.A joint control method combining Maximum Power Point Tracking(MPPT)loop,voltage regulation loop and current limiting loop is designed to realize the simultaneous control of mul⁃tiple state quantities of the energy management controller.A competition mechanism is introduced to settle the fre⁃quent working mode switching of the controller.The LADRC controller mathematical model is first established for the MPPT loop,and the dynamic response is compared with the PID method.A solar cell/lithium battery hybrid energy test platform is then built to couple the irradiation of the solar wing with the flight attitude,and the octagonal flight simu⁃lation test conducted for the proposed multi-loop control method.The results show that the maximum power point tracking time of the single/multi-loop control system based on the LADRC method can be reduced by 40%-70%,and the control system is more stable with accelerated transient response.During the flight simulation test,the proposed multi-loop control method can smoothly switch the working mode of the controller according to the flight load and bat⁃tery power state,so that the photovoltaic system can always output with the best energy efficiency.The research re⁃sults can provide a theoretical basis and engineering technical support for the high-efficiency flight of solar-powered UAVs.

关 键 词：太阳能 无人机 混合动力 能源控制策略 多环路控制 线性自抗扰控制 

分 类 号：V242.2[航空宇航科学与技术—飞行器设计]