超特高压验电方式下的无人机自抗扰定点控制  

Active Disturbance Rejection Fixed-Point Control of UAV during Ultra-High Voltage Electrical Testing

作　　者：石玉峰 夏传帮 魏亚楠 姚晨希 SHI Yufeng;XIA Chuanbang;WEI Yanan;YAO Chenxi(State Grid Zhejiang Electric Power Co.,Ltd.Wenzhou Power Supply Company,Wenzhou 325000,China)

机构地区：[1]国网浙江省电力有限公司温州供电公司,温州325000

出　　处：《航天控制》2024年第6期32-38,共7页Aerospace Control

摘　　要：针对四旋翼无人机在超特高压验电方式下的自抗扰定点控制问题,基于有限时间收敛的扩展状态观测器技术,提出了一种连续的自抗扰滑模控制方法。考虑到四旋翼无人机在飞行过程中难以获取精确的线速度和角速度信息,而且容易遭受外界时变扰动影响。该方法通过采用有限时间收敛的扩展状态观测器对未知线速度、角速度和集合干扰项进行实时估计,而且该方法能够有效降低四旋翼无人机位置与姿态跟踪误差,同时能够消除滑模控制抖振现象,并实现四旋翼无人机高精度定点控制。最后从理论和仿真充分验证了所提控制方法的有效性。A continuous active disturbance rejection sliding mode control strategy based on finite-time convergent extended state observer technology is proposed for solving the active disturbance rejection fixed-point control problem of quadrotor unmanned aerial vehicle(UAV)during ultra-high voltage electrical testing.By firstly considering that the quadrotor UAV is difficult to accurately obtain variable information such as linear velocity and angular velocity during flight and are susceptible to external time-varying disturbances,an extended state observer with finite-time convergence is used to estimate unknown linear velocity,angular velocity and lumped disturbance terms.Moreover,the proposed strategy can effectively reduce the position and attitude tracking errors,eliminate the chattering phenomenon of sliding mode control and achieve high-precision fixed-point control of quadrotor UAV.Finally,the effectiveness of the proposed control strategy is fully verified through theory and simulation.

关 键 词：四旋翼无人机 自抗扰控制 滑模控制 定点控制 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]