基于误差的LADRC在无人机飞行高度控制中的应用及仿真研究  

Application and simulation research of error-based LADRC in UAV flight height control

作　　者：陈志刚 徐明兴 陈有兴 程艳青[1] 刘滔 CHEN Zhigang;XU Mingxing;CHEN Youxing;CHENG Yanqing;LIU Tao(Computational Aerodynamics Institute,CARDC,Mianyang 621000,China)

机构地区：[1]中国空气动力研究与发展中心计算空气动力研究所,四川绵阳621000

出　　处：《兵器装备工程学报》2024年第11期267-271,共5页Journal of Ordnance Equipment Engineering

摘　　要：针对固定翼无人机飞行高度控制,采用基于误差的一阶线性自抗扰控制(LADRC)设计高度外环控制律。设计以高度控制误差信息为输入的线性扩张状态观测器(LESO),对无人机飞行高度控制中的总扰动量进行估计,并加以动态补偿,从而实现飞行高度精确控制。开展高度阶跃指令和垂直突风干扰情况下的飞行高度控制仿真,计算结果表明:基于误差的一阶LADRC高度控制比基于输出的一阶LADRC高度控制具有更平稳的阶跃指令响应过程和更优良的抗风扰性能。The flight height control of fixed-wing UAV is researched in this paper.The error-based first-order linear active disturbance rejection control(LADRC)is applied to design the outer loop control law of flight height,in which the height control error is used as the input of linear extended state observer and the total disturbance in the flight height control is estimated and dynamic compensated,to accurately control the UAV flight height.Simulation of the flight height control law with height step command and vertical gust disturbance is carried out.The results show that the error-based first-order LADRC has more stable response to height step command and better wind disturbance resistance performance than the output-based first-order LADRC.

关 键 词：控制误差 线性自抗扰 飞行高度控制 固定翼无人机 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]