基于自抗扰方法的无人机控制律设计  

UAV control law design method based on active-disturbance rejection control

作　　者：左玲[1] 张翔伦[1] 李志宇 秦玮 侯琳[1] 杨森 ZUO Ling;ZHANG Xianglun;LI Zhiyu;QIN Wei;HOU Lin;YANG Sen(Science and Technology on Aircraft Control Laboratory,Flight Automatic Control Research Institute,Xi’an 710070,China)

机构地区：[1]西安飞行自动控制研究所飞行器控制一体化技术重点实验室,西安710070

出　　处：《北京航空航天大学学报》2024年第5期1512-1522,共11页Journal of Beijing University of Aeronautics and Astronautics

摘　　要：针对多平台、多任务的无人机飞行控制律的快速开发问题,提出一种基于自抗扰方法的无人机控制律架构,设计了可复用的扩展状态观测器及微分跟踪器,研究对比了其在3种具有较大差异的无人机平台中的应用,使7 000 kg的超音速UAV_A获得了更优的敏捷性结果,在60 kg的缩比UAV_B完成了5.8g的半滚倒转大过载机动飞行试验,基于10 kg的平直翼UAV_C实现了12架机紧编队的精确轨迹控制飞行试验。仿真及试飞结果表明:所提自抗扰控制结构响应快速、控制精度高、鲁棒性强,能够较好地适应多类无人机、面向多种任务场景的控制需求,且不需调参就能够获得较好的控制效果,为飞行控制算法设计提供了新的技术途径。To provided a fast solution to multi-UAV and multi-task flight control law design,this paper presents a control law structure based on the active-disturbance rejection control method,and designs a reusable extended state observer and tracking differentiator.Meanwhile,the application of this method to three different UAV platforms is introduced.Then,the agility evaluation tests,the maneuver flight tests and the multi-UAV formation flight tests were carried out respectively.As a result,the 7000 kg supersonic UAV_A obtained better agility than the target plane;the 60 kg UAV_B successfully completed the 5.8g half-roll reverse maneuver flight test;the 10 kg UAV_C realized the precise trajectory control with 15 meters spacing interval of 12 UAVs formation flight test.The results show that the ADRC control structure has the advantages of fast response,high control accuracy and strong robustness.It can effectively adapt to multi-type UAVs and multiple mission scenarios,and achieve better control effects without the need for gain schedule,thus,providing a new technical approach for flight control design.

关 键 词：自抗扰控制 无人机 飞行控制 大过载机动飞行 编队飞行 非线性状态误差反馈控制 

分 类 号：V249.122.1[航空宇航科学与技术—飞行器设计] V249.122.2V249.122.3V249.122.4