摘要
针对四旋翼无人机姿态控制品质要求较高这一问题,运用自抗扰控制(ADRC)和线性自抗扰控制(LADRC)理论,分别探讨了基于ADRC和LADRC的四旋翼姿态控制方法,对两种控制方法的控制性能从理论上进行了比较,指出两种设计方法的优缺点。仿真结果表明:基于两种方法设计的四旋翼姿态控制器均具有较短的调节时间、较强的鲁棒性和抗干扰性;线性自抗扰控制器待整定参数较少,更便于实际应用,自抗扰控制器对初始状态误差不敏感,响应速度更快。
Considering the high qualities required by quadrotor attitude control,the active disturbance rejection control(ADRC)and the linear active disturbance rejection control(LADRC)are introduce in this paper.The attitude control for quadrotor aircraft based on ADRC or LADRC is discussed respectively.Analysis and comparison are given in theory,and the advantages and disadvantages of each controller are pointed out.The simulation results show that both controllers have a short settling time,strong robustness and anti-disturbance performance;the number of tuning parameters of LADRC is less than that of ADRC,making LADRC more convenient to be applied to engineering projects,while ADRC is insensitive to initial state errors and has a quicker response.
作者
万慧
齐晓慧
董海瑞
朱子薇
孟丽洁
WAN Hui;QI Xiao-hui;DONG Hai-rui;ZHU Zi-wei;MENG Li-jie(Shijiazhuang Campus of the Army Engineering University,Shijiazhuang 050003 China;North Automatic Control Technology Insitute,Taiyuan 030006,China)
出处
《火力与指挥控制》
CSCD
北大核心
2018年第3期151-155,共5页
Fire Control & Command Control
基金
"2110"学科建设基金资助项目
关键词
四旋翼飞行器
姿态控制
自抗扰控制器
线性自抗扰控制器
性能比较
quadrotor aircraft
attitude control
active disturbance rejection control
linear active disturbance rejection control
performance comparison
