基于扩张状态观测器的无人机云台系统控制算法  

Gimbal system control algorithm of unmanned aerial vehicle based on extended state observer

作　　者：高胡震 杜昌平[1] 郑耀[1] GAO Huzhen;DU Changping;ZHENG Yao(School of Aeronautics and Astronautics,Zhejiang University,Hangzhou Zhejiang 310027,China)

机构地区：[1]浙江大学航空航天学院,杭州310027

出　　处：《计算机应用》2024年第2期604-610,共7页journal of Computer Applications

摘　　要：针对无人机(UAV)三轴云台增稳控制中变量耦合的问题,提出一种基于扩张状态观测器(ESO)的无人机云台系统控制算法。首先,建立了无人机机载云台期望角的姿态解算算法模型;其次,构建了无人机机载云台位置环和速度环的串级比例-积分-微分(PID)控制回路;最后,引入ESO对机载云台角速度项在线实时估计,解决角速度项由于高耦合、多外扰导致的难以直接测量的问题,并对各通道的控制输入进行补偿。实验结果表明,所提算法在无指令、有指令和综合任务场景下的角度均方根误差分别为0.2357°、0.6317°和0.9463°,与传统PID算法相比,所提算法的角度误差分别降低了69.43%、53.29%和50.43%。可见,所提算法对外界扰动的抗干扰能力更强,控制精度更高。To handle the problem of variable coupling in Unmanned Aerial Vehicle(UAV)three-axis gimbal stabilization control,an UAV gimbal system control algorithm based on Extended State Observer(ESO)was proposed.Firstly,an attitude solution algorithm model for the desired angle of the UAV gimbal was developed.Secondly,serial PID(Proportional-Integral-Derivative)control loops of position and velocity were constructed.Finally,an ESO was introduced to estimate the angular velocity term online in real-time,which solves the problem that the angular velocity term is difficult to measure directly due to high coupling and multiple external disturbances,and the control input of each channel was compensated.The experimental results show that in scenarios including without command,with command,and composite tasks,the root mean square errors of the proposed algorithm for angle measurement are 0.2357°,0.6317°,and 0.9463°,respectively.Compared to the traditional PID algorithm,the proposed algorithm achieves angle error reduction rates of 69.43%,53.29%,and 50.43%,respectively.The proposed algorithm exhibits greater resistance to disturbances and higher control accuracy.

关 键 词：无人机 三轴云台系统 串级PID控制 扩张状态观测器 自抗扰控制 

分 类 号：TP273.3[自动化与计算机技术—检测技术与自动化装置]