基于干扰补偿的四旋翼无人机轨迹跟踪控制  

Trajectory Tracking Control of Quadrotor UA V Based on Disturbance Compensation

作　　者：范文茹 刘权威 田栢苓[2] FAN Wenru;LIU Quanwei;TIAN Bailing(School of Electronic Information and Automation,Civil Aviation University of China,Tianjin 300300,China;School of Electrical and Information Engineering,Tianjin University,Tianjin 300072,China)

机构地区：[1]中国民航大学电子信息与自动化学院,天津300300 [2]天津大学电气与信息工程学院,天津300072

出　　处：《现代防御技术》2024年第2期87-93,共7页Modern Defence Technology

摘　　要：针对带有未知外部扰动的四旋翼无人机轨迹稳定跟踪问题,设计了一种基于干扰补偿的控制策略。针对四旋翼无人机位置环设计PID位置控制器,并基于干扰估计器对外部干扰进行补偿。通过姿态解算得到期望姿态,并针对四旋翼无人机姿态环设计具有强鲁棒性能的INDI姿态控制器,通过Simulink进行仿真对比试验。实验结果表明,该控制策略可实现带有未知外部扰动条件下的四旋翼无人机轨迹跟踪能力。A control strategy based on disturbance compensation is devised to address the issue of stabilizing trajectory tracking for quadcopter unmanned aerial vehicles(UAVs)with unknown external disturbances.Firstly,this paper designs a PID position controller for the quadcopter UAV's position loop and compensates for external disturbances using a disturbance observer.Secondly,the desired attitude is obtained through attitude computation,and an incremental nonlinear dynamic inversion(INDI)attitude controller with strong robust performance is designed for the quadcopter UAV's attitude loop.Finally,simulation and comparative experiments are conducted by Simulink.Experimental results indicate that this control strategy can achieve trajectory tracking capability for quadcopter UAVs under conditions of unknown external disturbances.

关 键 词：四旋翼无人机 轨迹跟踪 干扰补偿 位置控制器 姿态解算 姿态控制器 

分 类 号：V279.2[航空宇航科学与技术—飞行器设计]