基于反步滑模的四旋翼无人机飞行姿态自适应控制  

Adaptive control of Flight Attitude for Quadcopter Drones Based on Backstepping Sliding Mode

作　　者：韩洪豆 谢忠 徐志鹏 王一丁 HAN Hongdou;XIE Zhong;XU Zhipeng;WANG Yiding(Xuzhou Xindian High-tech Electric Co.,Ltd.,Xuzhou 221100,China;Xuzhou Power Supply Branch of State Grid Jiangsu Electric Power Co.,Ltd.,Xuzhou 221100,China)

机构地区：[1]徐州新电高科电气有限公司,江苏徐州221100 [2]国网江苏省电力有限公司徐州供电分公司,江苏徐州221100

出　　处：《计算机测量与控制》2024年第12期117-123,共7页Computer Measurement &Control

基　　金：国网江苏省电力有限公司孵化项目(JF2020008)。

摘　　要：四旋翼无人机应用频率不断增加,应用场景愈加复杂,对其飞行姿态控制性能提出了更高的要求;现有方法对四旋翼无人机进行位姿控制后,可能会导致无人机的飞行行为出现发散或振荡,无法达到期望的位置与姿态,因此基于反步滑模算法,设计四旋翼无人机飞行姿态自适应控制方法;根据四旋翼无人机结构,构建四旋翼无人机动力学模型,利用MEMS惯性传感器对四旋翼无人机当前位置与姿态进行测量,结合卡尔曼滤波算法对飞行姿态角进行解耦计算,依据四旋翼无人机飞行姿态控制需求,联合反步滑模算法设计控制器,以飞行姿态角——滚转角、俯仰角与偏航角解耦计算结果作为控制器的输入量,控制器输出结果即为飞行姿态控制参量,实现四旋翼无人机飞行姿态的有效控制;实验数据证明:应用文章提出方法对四旋翼无人机飞行位姿进行控制后,控制结果与期望位置和期望位姿基本相同,滚转角、俯仰角与偏航角最大偏差不超过4°,具有较高的控制精度。Quadcoper drones are widely used in complex scenarios,which puts forward higher requirements on their flight attitude control performance.Existing methods perhaps lead to the attitude control of quadcopter drones divergent or oscillatory and can not achieve the desired position and attitude.Therefore,based on the backstepping sliding mode algorithm,a self-adaptive control method for the flight attitude of quadcopter drones is designed.Based on the structure of a quadcopter drone,a quadcopter drone dynamic model is constructed.MEMS inertial sensors are used to measure the current position and attitude of the quadcopter drone,and the Kalman filtering algorithm is combined to decouple the flight attitude angle.According to the flight attitude control requirements of the quadcopter drone,the backstepping sliding mode algorithm is used to design a controller.The decoupling calculation results of the roll angle,pitch angle and yaw angle are used as inputs to the controller,and the output results of the controller are the flight attitude control parameters,achieving effective control of the flight attitude of quadcopter unmanned aerial vehicles.Experimental data show that after applying the proposed method to control the flight posture of quadcopter drones,the control results are basically the same as the expected position and posture,the maximum deviation between the roll angle,pitch angle,and yaw angle does not exceed 4°,with a high control accuracy.

关 键 词：四旋翼无人机 飞行姿态 反步滑模算法 姿态控制 卡尔曼滤波 

分 类 号：TP273.2[自动化与计算机技术—检测技术与自动化装置]