基于改进PD的LESO四旋翼控制算法  

Based on Improved PD of LESO Quadrotor Control Algorithm

作　　者：刘春玲[1] 冯锦龙 张瑾[1] LIU Chun-ling;FENG Jin-long;ZHANG Jin(College of Information Engineering,Dalian University,Dalian Liaoning 116622,China)

机构地区：[1]大连大学信息工程学院,辽宁大连116622

出　　处：《计算机仿真》2023年第6期42-46,共5页Computer Simulation

摘　　要：针对四旋翼飞行器非线性、强耦合及易受外界干扰引起姿态不稳定问题,设计了一种改进PD的线性扩张状态观测器(LESO)控制器。通过在PD算法的微分环节中加入一阶惯性环节,构成不完全微分控制,提高飞行系统的控制性能。利用LESO将控制系统中的内外部扰动进行估计并补偿到原系统中,不仅能减少系统误差,还能增强控制系统的抗干扰能力,提高系统鲁棒性及稳定度。通过MATLAB仿真表明,提出的改进PD的LESO控制器能够快速达到稳定状态,有效提高四旋翼飞行器姿态的稳定控制能力,超调量更小、控制效果更佳,相比于常规的PID控制器,具有更高的鲁棒性和自适应能力。Aiming at the problem of attitude instability caused by nonlinearity,strong coupling and susceptibility to external interference of quadrotor,a linear extended state observer(LESO)controller with improved PD is de-signed.First,by adding a first-order inertia link to the differential link of the PD algorithm,an incomplete differential control was formed to improve the control performance of the flight system.Then,LESO was used to estimate and com-pensate the internal and external disturbances in the control system to the original system,which can not only reduce system errors,but also enhance the anti-interference ability of the control system,and improve system robustness and stability accuracy.Through MATLAB simulation experiment,it is shown that the proposed LESO controller with im-proved PD has higher robustness and adaptive ability than conventional PID controller,can achieve a stable state quickly,effectively improve the stability control ability of quadcopter attitude,and has a smaller overshoulation and better control effect.

关 键 词：四旋翼飞行器 线性扩张姿态观测器 不完全微分比例微分控制 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]