基于牛顿-欧拉法的四旋翼无人机飞行姿态自抗扰控制系统设计  

Design of Active Disturbance Rejection Control System for Quadcopter UAV Flight Attitude Based on Newton-Euler Method

作　　者：胡少华 HU Shaohua(General Aviation College,Xi'an Aeronautical Polytechnic Institute,Xi'an 710089,China)

机构地区：[1]西安航空职业技术学院通用航空学院,西安710089

出　　处：《计算机测量与控制》2025年第3期79-86,共8页Computer Measurement &Control

摘　　要：由于四旋翼无人机复杂的非线性、时变不确定性,容易受到外界干扰,导致飞行姿态控制出现偏差;针对该问题,设计了基于牛顿-欧拉法的四旋翼无人机飞行姿态自抗扰控制系统;采用Pixhawk飞控板,在系统硬件部分,根据指令调整无人机的飞行姿态和电机转速;采用MPU6050姿态传感器,测量无人机俯仰角、滚转角和偏航角等姿态信息;通过基于GAD7689的A/D采样电路,将模拟信号的电压或电流值转换为数字信号,并存储在内部寄存器中;自抗扰控制器通过构造扩张状态观测器估计系统的总扰动,并设计控制器来跟踪系统的参考轨迹;在系统软件部分,使用牛顿-欧拉法分析无人机飞行位移及转动过程,结合自抗扰控制设计姿态控制方案,利用跟踪微分器对期望轨迹预处理,实现四旋翼无人机飞行姿态自抗扰控制;实验结果表明,该系统控制的无人机飞行姿态滚转角为0.7°、俯仰角为0.5°、偏航角为0.6°,无人机的飞行轨迹平滑,与理想飞行轨迹一致,能够达到理想控制效果。Quadcopter unmanned aerial vehicles(UAVs)have the characteristics of complex nonlinearity,time-varying uncertainty,and susceptible to external interference,resulting in deviation in flight attitude control.To address this issue,a quadcopter UAV flight attitude active disturbance rejection control system based on Newton-Euler method was designed.In the system hardware section,adopt the flight control board Pixhawk,adjust the drone s flight attitude and motor speed according to instructions,use the attitude sensor MPU6050 to measure attitude information such as pitch angle,roll angle,and yaw angle of the UAV,and apply an A/D sampling circuit based on the GAD7689 to convert the voltage or current values of the analog signal into digital signals and to be stored in internal registers.The active disturbance rejection controller estimates the total disturbance of the system by constructing an extended state observer,and designs the controller to track the reference trajectory of the system.In the system software section,Newton Euler method is used to analyze the flight displacement and rotation process of the drone,and an attitude control scheme is designed based on the active disturbance rejection control.The tracking differentiator is used to preprocess the expected trajectory,achieving active disturbance rejection control for the quadcopter UAV flight attitude.Experimental results show that the control accuracy of the drone flight attitude is a roll angle of 0.7°,a pitch angle of 0.5°,and a yaw angle of 0.6°.The drone has a smooth flight trajectory,which is consistent with ideal flight trajectory,achieving an ideal control effect.

关 键 词：牛顿-欧拉法 四旋翼无人机 飞行姿态 自抗扰控制 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]