四旋翼飞行器抗干扰轨迹跟踪控制方法研究  

Research on Anti-Jamming Trajectory Tracking Control of Quadcopter

作　　者：孙克文 刘国宁[1] 杨允权 杨洁[1] SUN Ke-wen;LIU Guo-ning;YANG Yun-quan;YANG Jie(School of Mechanical and Power Engineering,Zhengzhou University,He’nan Zhengzhou 450001,China)

机构地区：[1]郑州大学机械与动力工程学院,河南郑州450001

出　　处：《机械设计与制造》2023年第12期281-287,292,共8页Machinery Design & Manufacture

基　　金：河南省产学研重点支持项目(172107000008)。

摘　　要：四旋翼飞行器可以在特殊复杂的环境下运行而备受关注,由于自身具有强耦合、欠驱动及非线性等特点,保障其突发环境变化时飞行轨迹和姿态的快速调整至稳定就变得很重要。首先对四旋翼飞行的中低空范围内风场进行研究,将风扰因素模型化并引入四旋翼系统模型中。其次四旋翼自身采用内外双闭环的控制架构,在位置外环和姿态内环框架内分别设计了全新的位置滑模控制器和姿态双闭环滑模控制器。在位置滑模控制器设计中提出一种带有鲁棒项的指数趋近律以实现外界环境干扰下飞行器对目标轨迹的准确跟踪。在设计姿态滑模面时加入了对姿态角跟踪误差值的积分项以提高四旋翼系统的鲁棒性。最终通过Matlab/Simulink数值仿真手段进行与传统滑模控制的对比仿真实验,检验了这里的控制方法具有更好的轨迹跟踪性能和鲁棒性。There has been great interests in quadcopter due to its application in special circumstances.At the same time,owing to its characteristics of nonlinearity,strong coupling and under-actuation,it is very important to guarantee the rapid adjustment of attitude and trajectory to realize stable flight when quadcopter encounters sudden environmental change like gusts and collision.In this paper,the wind field in the mid-to-low altitude range of quad-rotor flight is studied,and wind disturbance factors are modeled and introduced into the quad-rotor system model.The quad-rotor aircraft adopts an internal and external double closedloop control architecture,and a brand-new position sliding mode controller and an attitude double closed-loop sliding mode controller are respectively designed in the position outer ring and the attitude inner ring frame.Traditional approximation method is replaced by the proposed exponential approximation methodology with the robust item in the design of sliding mode controller for position control to realize accurate tracking control.The item of integral of error is introduced in the controller design for attitude control to improve the robustness and to decrease the attitude error.Compared with the simulation results based on traditional sliding mode control theory,the proposed controller in this paper has quicker response,runs more stable and has more accurate tracking and greater robustness.

关 键 词：四旋翼飞行器 轨迹跟踪 滑模控制器设计 指数趋近 数值仿真 

分 类 号：TH16[机械工程—机械制造及自动化]