改进型自抗扰四旋翼无人机控制系统设计与实现

石嘉; 裴忠才; 唐志勇; 胡达达

doi:10.13700/j.bh.1001-5965.2020.0333

改进型自抗扰四旋翼无人机控制系统设计与实现

doi: 10.13700/j.bh.1001-5965.2020.0333

北京航空航天大学自动化科学与电气工程学院, 北京 100083

详细信息

通讯作者:
唐志勇, E-mail: zyt_76@buaa.edu.cn

中图分类号: V249.1
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- 被引次数: 0
出版历程
- 收稿日期: 2020-07-13
- 录用日期: 2020-07-31
- 网络出版日期: 2021-09-20

Design and realization of an improved active disturbance rejection quadrotor UAV control system

School of Automation Science and Electrical Engineering, Beihang University, Beijing 100083, China

More Information

Corresponding author: TANG Zhiyong, E-mail: zyt_76@buaa.edu.cn

摘要

摘要:
针对提高四旋翼无人机姿态控制抗干扰能力的目标，设计了一种内外环嵌套结构的改进型自抗扰控制（ADRC）器。根据所搭建四旋翼无人机的实际参数，构建了四旋翼无人机姿态控制系统的数值仿真模型。通过与传统双闭环PID控制器进行对比，证明所设计的自抗扰控制系统在快速响应、无超调的前提下，具有很强的抗干扰能力以及较高的控制效率。将所设计的控制系统，应用于四旋翼无人机之上，在具有大偏载以及方向不确定的强干扰的飞行试验中，取得了良好的控制效果。
- 四旋翼无人机 /
- 自抗扰控制(ADRC) /
- 干扰补偿 /
- 滑动平均低通滤波 /
- 内外环嵌套结构
Abstract:
In order to improve the ability of disturbance rejection of quadrotor UAV attitude control, this paper presents an improved Active Disturbance Rejection Controller (ADRC) with nested structure of inner and outer loops. The numerical simulation model of quadrotor UAV attitude control system is constructed with parameters measured from an actual prototype. By comparing to traditional double closed-loop PID controller, it is shown that the improved ADRC has very strong ability of disturbance rejection and high control efficiency, with quick response and no overshoot. The quadrotor UAV has excellent control effect during flight test with big partial load and strong disturbance from unknown directions, using the same control algorithm as in simulation.
- quadrotor UAV /
- Active Disturbance Rejection Control(ADRC) /
- disturbance compensation /
- moving average low pass filter /
- nested structure of inner and outer loops

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图 1 机体坐标系

Figure 1. Fuselage coordinate system

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图 2 大地坐标系

Figure 2. Ground coordinate system

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图 3 控制系统框图

Figure 3. Block diagram of control system

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图 4 滚转通道无干扰时的阶跃响应对比

Figure 4. Comparison of step response of roll angle path under no disturbance

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图 5 滚转通道正弦波干扰下的响应对比

Figure 5. Comparison of response of roll angle path under sine wave disturbance

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图 6 滚转通道方波干扰下的响应对比

Figure 6. Comparison of response of roll angle path under square wave disturbance

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图 7 滚转通道极限幅值方波干扰下的响应对比

Figure 7. Comparison of response of roll angle path under square wave disturbance of maximum amplitude

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图 8 偏航通道无干扰时的阶跃响应对比

Figure 8. Comparison of step response of yaw angle path under no disturbance

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图 9 偏航通道正弦波干扰下的响应对比

Figure 9. Comparison of response of yaw angle path under sine wave disturbance

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图 10 偏航通道方波干扰下的响应对比

Figure 10. Comparison of response of yaw angle path under square wave disturbance

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图 11 偏航通道极限幅值方波干扰下的响应对比

Figure 11. Comparison of response of yaw angle path under square wave disturbance of maximum amplitude

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图 12 强干扰作用下的姿态控制飞行试验

Figure 12. Attitude control flight test under strong disturbance

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图 13 滚转角跟踪效果

Figure 13. Tracking performance of roll angle

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图 14 偏航角跟踪效果

Figure 14. Tracking performance of yaw angle

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表 1 四旋翼无人机模型参数

Table 1. Parameters of quadrotor UAV model

参数	数值
总质量m/kg	1.311
臂长d/m	0.24
沿x轴转动惯量I_x/(kg·m²)	1.762×10^-2
沿y轴转动惯量I_y/(kg·m²)	1.796×10^-2
沿y轴转动惯量I_z/(kg·m²)	2.805×10^-2
升力系数C_T/(N·s²·rad^-2)	9.138×10^-6
反扭矩系数C_M/(N·m·s²·rad^-2)	1.368×10^-7
电机时间常数T_m/s	0.015 7

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表 2 滚转角/俯仰角控制器参数

Table 2. Parameters of roll/pitch angle controller

参数	数值
α	0.5
δ_td	0.2
k₀	8
h	0.001
r₀	600
h₀	0.004
b₀	58.37
k₁	0.5
k₂	0.05
δ_eso	0.005
β₁	1 000
β₂	60 000

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表 3 偏航角控制器参数

Table 3. Parameters of yaw angle controller

参数	数值
α	0.5
δ_td	0.2
k₀	3
h	0.001
r₀	600
h₀	0.002
b₀	3.6
k₁	5
k₂	0.35
δ_eso	0.005
β₁	1 000
β₂	60 000

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