基于反步自适应分数阶PID的四旋翼控制  

Quadrotor Control Based on Backstep Adaptive Fractional Order PID

作　　者：严云龙 姜文刚[1] YAN Yunlong;JIANG Wengang(School of Automation,Jiangsu University of Science and Technology,Zhengjiang 212100,China)

机构地区：[1]江苏科技大学自动化学院,江苏镇江212100

出　　处：《软件导刊》2023年第10期117-123,共7页Software Guide

基　　金：国家自然科学基金项目(61903163)。

摘　　要：为强化四旋翼无人机在受到自然风干扰情况下的抗干扰能力以及鲁棒性,提出一种将反步自适应控制与改进分数阶PID控制相结合的控制策略。首先分析四旋翼无人机的力学原理,建立受到气流干扰的四旋翼数学模型;然后通过不完全微分与前馈补偿改进传统PID控制器,用于控制四旋翼的外环位置子系统,设计反步自适应控制器用于控制内环姿态子系统,同时通过Lyapunov稳定性理论验证姿态子系统的稳定性;最后在Simulink平台进行仿真实验。实验结果表明,基于反步自适应控制与改进分数阶PID控制相结合的控制策略设计的控制器相较传统PID控制器、反步自适应控制器在快速性、稳定性、准确性方面更具优势。To enhance the anti-interference ability and robustness of quadcopter unmanned aerial vehicles under natural wind interfer⁃ence,a control strategy combining backstepping adaptive control with improved fractional order PID control is proposed.Firstly,analyze the mechanical principles of the quadcopter drone and establish a mathematical model of the quadcopter subject to airflow interference;Then the traditional PID controller is improved by incomplete differentiation and feedforward compensation to control the outer loop position subsystem of the quadrotor,and a backstepping adaptive controller is designed to control the inner loop attitude subsystem.At the same time,the stability of the attitude subsystem is verified by Lyapunov stability theory;Finally,simulation experiments were conducted on the Simulink platform.The experimental results show that the controller designed based on the combination of backstepping adaptive control and improved fractional order PID control has more advantages in speed,stability,and accuracy compared to traditional PID controllers and backstepping adaptive controllers.

关 键 词：四旋翼无人机 环境风干扰 不完全微分 前馈补偿 分数阶PID控制 反步自适应控制 

分 类 号：TP273.4[自动化与计算机技术—检测技术与自动化装置]