参数跟踪鲁棒观测器的四旋翼无人机抑振设计  

Vibration suppression design of quadcopter drone with parameter tracking robust observer

作　　者：王志豪 文新宇[1] 曹松银[2] 周亮亮[3] WANG Zhihao;WEN Xinyu;CAO Songyin;ZHOU Liangliang(School of Electronic Information Engineering,Taiyuan University of Science and Technology,Taiyuan 030024,China;College of Information Engineering,Yangzhou University,Yangzhou 225127,China;Taiyuan Heavy Industry Co.,Ltd.,Taiyuan 030024,China)

机构地区：[1]太原科技大学电子信息工程学院,太原030024 [2]扬州大学信息工程学院,江苏扬州225127 [3]太原重工股份有限公司,太原030024

出　　处：《振动与冲击》2024年第9期60-68,114,共10页Journal of Vibration and Shock

基　　金：国家自然科学基金面上项目(61873346);山西省重点研发计划(202102020101013);山西省应用基础研究面上项目(202103021224271;20210302123210;201901D111247)。

摘　　要：提出一种针对四旋翼无人机振动的参数跟踪鲁棒观测器设计方法。首先构造辅助滤波器激励出振动特性,同时调节其参数降低噪声对辅助状态变量的影响,将主动振动抑制转化为与频率有关的常值参数估计问题,避免了估计值之间的耦合和冗余参数的运算。然后设计频率参数观测器和跟踪器的级联结构准确估计振动信息。在此基础上,通过辅助变量和频率参数对振动进行重构,设计前馈补偿的控制方法实现了系统的振动抑制。所设计的观测器不仅具有较好的鲁棒性,还避免了传统跟踪器跟踪时变信号带来的相位滞后。最后通过李雅普诺夫定理对系统的性能进行了分析,仿真算例验证了该方法的有效性。Here,a parameter tracking robust observer design method was proposed for quadcopter drone vibration.Firstly,an auxiliary filter was constructed to excite the drone’s vibration characteristics.Meanwhile,its parameters were adjusted to reduce effects of noise on auxiliary state variables.Active vibration suppression was converted into a frequency dependent constant parametric estimation problem to avoid coupling among estimated values and redundant parametric calculation.Then,a cascade structure of frequency parameter observer and tracker was designed to correctly estimate vibration information.Furthermore,drone vibration was reconstructed with auxiliary variables and frequency parameters,and a feedforward compensation control method was designed to realize system vibration suppression.It was shown that the designed observer not only has better robustness,but also avoids phase lag brought by traditional tracker tracking time-varying signals.Finally,the system performance was analyzed with Lyapunov theorem,and the effectiveness of the proposed method was verified with simulation examples.

关 键 词：四旋翼无人机 干扰观测器 正弦振动 振动抑制 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程] TP273[自动化与计算机技术—控制科学与工程]