共轴双旋翼无人机稳定飞行控制算法研究  

Research on stable flight control algorithm of coaxial twin-rotor helicopter

作　　者：张翱鹏 刘双杰[1] 郝永平[1] ZHANG Aopeng;LIU Shuangjie;HAO Yongping(School of Equipment Engineering,Shenyang Ligong University,Shenyang 110159,China)

机构地区：[1]沈阳理工大学装备工程学院,沈阳110159

出　　处：《智能计算机与应用》2025年第2期133-137,共5页Intelligent Computer and Applications

摘　　要：针对共轴双旋翼无人机强耦合的非线性系统控制稳定性不足,以及传感器读取数据不精准及噪声对稳定控制的影响问题,设计了适用于共轴双旋翼无人机的抗干扰控制算法及对传感器数据进行处理的LM算法。采用ADRC抗干扰控制算法作为内环和外环控制器,控制共轴双旋翼无人机位置、速度和姿态;利用改进的LM算法,对离散的加速度计与磁力计测量值进行标定,配合无人机更好的修正速度信息与位置信息。仿真实验和飞行试验表明:相比于线性控制器,抗干扰控制算法具有较快的稳定时间和较小的超调量,提高了系统的鲁棒性,所设计的姿态控制系统应用于共轴双旋翼无人机具有理想的控制效果。In order to solve the problems of insufficient control stability,inaccurate sensor data reading and noise influence on stability control of the strongly coupled nonlinear system of coaxial twin rotor helicopter,an anti-interference control algorithm and LM algorithm for sensing and data processing of coaxial twin rotor helicopter were designed.The ADRC anti-interference control algorithm is used as the inner and outer ring controller to control the position,speed and attitude of the coaxial twin-rotor helicopter.The improved LM algorithm is used to calibrate the measured values of the discrete accelerometer and magnetometer,which can better correct the speed and position information of the helicopter.The simulation experiment and flight test show that compared with the linear controller,the anti-interference control algorithm has a faster stability time and a smaller overshoot,which improves the robustness of the system.The designed attitude control system has an ideal control effect when applied to the coaxial twin-rotor helicopter.

关 键 词：共轴双旋翼无人机 LM算法 抗干扰控制 鲁棒性 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]