基于双线性ADRC的翼伞系统三维航迹跟踪控制  

3-D Trajectory Tracking Control of Parafoil System Based on Bilinear ADRC

作　　者：周宇阳 赵敏[1] 王成 齐贺轩 ZHOU Yuyang;ZHAO Min;WANG Cheng;QI Hexuan(College of Automation,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)

机构地区：[1]南京航空航天大学自动化学院,江苏南京210016

出　　处：《机械制造与自动化》2024年第1期255-259,共5页Machine Building & Automation

基　　金：航空科学基金项目(20182952029)。

摘　　要：目前翼伞系统的航迹跟踪主要针对二维路径,对于三维航迹跟踪的研究不多。针对翼伞系统6-DOF模型,采用具有天然解耦属性的自抗扰控制策略,设计一种基于双线性ADRC(B-ADRC)的三维轨迹跟踪控制方法。在水平面与纵向设计制导率与控制器,实现姿态与轨迹位置的跟踪,并对轨迹跟踪误差进行实时修正。跟踪过程中,将理想轨迹离散化获得一系列参考点,通过点切换的方式实现了复杂轨迹的跟踪。实验结果表明:所设计的双线性ADRC控制器能够实现对三维航迹的跟踪,具有良好的鲁棒性和抗干扰能力。In view of the limitation of its main focus on two-dimensional path track and insufficient research on three-dimensioal track by trajectory tracking of present parafoil system,and with the aim at the 6-DOF model of parafoil system,an auto disturbance rejection control strategy with natural decoupling property is adopted to design a three-dimensional trajectory tracking control method based on bilinear ADRC(B-ADRC).The guidance rate and controller are designed in the horizontal plane and the longitudinal direction to realize the stability of attitude and the tracking of trajectory position,and the real-time correction of trajectory tracking error.In the process of tracking,the ideal trajectory is discretized to obtain a series of reference points,and the complex trajectory is tracked by point switching.The experimental results show that the designed bilinear ADRC controller can track the three-dimensional track and has good robustness and anti-jamming ability.

关 键 词：翼伞系统 6-DOF模型 三维航迹跟踪控制 制导率 B-ADRC控制器 

分 类 号：V233.7[航空宇航科学与技术—航空宇航推进理论与工程]