基于ESO的仿蝙蝠扑翼飞行器姿态控制仿真  

Attitude Control and Simulation for a Bat Flapping Flight Based on ESO

作　　者：李洛 张峰[1,2] 王宏伟[1,2] 崔龙[1,2] LI Luo;ZHANG Feng;WANG Hong-wei;CUI Long(State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Liaoning Shenyang 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Liaoning Shenyang 110016,China;University of Chinese Academy of Sciences,Beijing 100049,China)

机构地区：[1]中国科学院沈阳自动化研究所机器人学国家重点实验室,辽宁沈阳110016 [2]中国科学院机器人与智能制造创新研究院,辽宁沈阳110016 [3]中国科学院大学,北京100049

出　　处：《机械设计与制造》2024年第7期200-203,209,共5页Machinery Design & Manufacture

基　　金：智能微型仿昆虫跃翔机器人关键技术研究(U2013208)。

摘　　要：针对仿蝙蝠扑翼飞行器的纵向气动特性不稳定、易受扰动的问题,设计了一种基于扩张状态观测器(ESO)的姿态控制方法,实现了扑翼飞行器姿态的稳定与抗干扰控制。首先建立仿蝙蝠扑翼飞行器的动力学模型;进而在该模型基础上分析了扑翼飞行器的纵向稳定性;然后将系统的不确定部分与各种未知的外界扰动作为系统的总扰动,引入ESO模块对总扰动进行实时观测与跟踪;最后在原有的PID控制器中加入扰动补偿环节。数值仿真结果表明,基于ESO的控制算法对于仿蝙蝠扑翼飞行器的控制效果显著优于基于PID的控制方法,阶跃响应的调节时间加快41.27%,对系统输入的白噪声干扰波动峰值从6.02%降低到2.82%,正弦扰动的波动峰值从11.56%降低到3.22%。An attitude control method based on ESO(Extended State Observer)is proposed for the bat-like flapping wing aircraft to solve the problem that the flapping-wing flight is susceptible to interference with unstable longitudinal aerodynamic characteristics.Firstly,the dynamics model of the bat-like flapping wing aircraft was established.Then we analyzed the longitudinal stability on the basis.The uncertain part of this system and various unknown external disturbance are considered as the lumped disturbance of the system,which is observed and tracked by the ESO module in real time,then the control method adds disturbance compensation part to the original PID controller.The numerical simulation results show that the control method based on ESO is significantly better than that based on PID for the bat-like flapping-wing aircraft,where the transient time of step response is accelerated by 41.27%,and the range of fluctuation is increased from 6.02%to 2.82%under white noise interference,and from 11.56%to 3.22%under sinusoidal interference.

关 键 词：扑翼 姿态控制 扩张状态观测器 

分 类 号：TH16[机械工程—机械制造及自动化] TP391.9[自动化与计算机技术—计算机应用技术]