基于PID-IADRC的四旋翼轨迹跟踪控制  

Trajectory Tracking Control of Quadrotor based on PID-IADRC

作　　者：李翔 鲁森魁 马玉杰[1] LI Xiang;LU Senkui;MA Yujie(National Key Laboratory of Helicopter Aeromechanics,CHRDI,Jingdezhen 333001,China)

机构地区：[1]中国直升机设计研究所直升机动力学全国重点实验室,江西景德镇333001

出　　处：《直升机技术》2024年第4期10-14,共5页Helicopter Technique

基　　金：某稳定支持项目。

摘　　要：针对四旋翼飞行器非线性、强耦合的特点,设计了一种PID-IADRC轨迹跟踪控制器。首先建立四旋翼飞行器的非线性数学模型;然后内环姿态环设计一种改进型自抗扰(IADRC)控制器,利用双曲正切函数对传统的自抗扰控制器(ADRC)的各环节进行了简化;外环位置环采用PID控制实现四旋翼轨迹跟踪;最后通过数值仿真验证所设计控制器的有效性。结果表明,PID-IADRC控制器相较于传统的PID控制器,参数整定的难度得到了降低,而且控制精度得到了提升。Aiming at the non-linear and strong coupling characteristics of quadrotor,a PID-IADRC trajectory tracking controller was designed in this paper.Firstly,the nonlinear mathematical model of the quedrotor was established.And then an improved active disturbance rejection controller(IADRC)was designed for inner ring attitude loop,the each link of the traditional active disturbance rejection control(ADRC)was simplified by using the inverse hyperbolic tangent function.Afterwards,PID was used for the position loop.Finally,the effectiveness of the designed controller was verified through numerical simulation.The results showed that,compared with the traditional PID,the difficulty of parameter tuning of the PID-IADRC had been reduced,and the control accuracy had been improved.

关 键 词：四旋翼 改进型自抗扰控制器 PID 轨迹跟踪控制 

分 类 号：V214.11[航空宇航科学与技术—航空宇航推进理论与工程]