基于<i>L</i><sub>1</sub>-ITD的尾座式无人机姿态控制

王姝旸; 张晶; 杨凌宇

doi:10.13700/j.bh.1001-5965.2021.0681

基于L₁-ITD的尾座式无人机姿态控制

doi: 10.13700/j.bh.1001-5965.2021.0681

北京航空航天大学自动化科学与电气工程学院，北京 100191

详细信息

作者简介:
王姝旸，等：基于L₁-ITD的尾座式无人机姿态控制 9

通讯作者:
E-mail：zhangjing2013@buaa.edu.cn

中图分类号: V249.122
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- 文章访问数: 1403
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- PDF下载量: 24
- 被引次数: 0
出版历程
- 收稿日期: 2021-11-11
- 录用日期: 2022-01-21
- 网络出版日期: 2022-02-16
- 整期出版日期: 2023-10-01

Attitude control law based on L₁-ITD for a tail-sitter UAV

School of Automation Science and Electrical Engineering，Beihang University，Beijing 100191，China

More Information

Corresponding author: E-mail：zhangjing2013@buaa.edu.cn

摘要

摘要:
针对尾座式无人机在垂直起降（VTOL）阶段对风干扰敏感的问题，提出了一种基于L₁-ITD的尾座式无人机姿态控制方法。建立了垂直起降阶段尾座式无人机六自由度非线性模型，设计了基于L₁自适应的无人机姿态控制器，可抑制扰动对系统性能的影响，实现垂直起降阶段存在风干扰和模型不确定时对无人机姿态的良好控制。在此基础上，针对L₁自适应控制方法对量测噪声敏感及无法直接获取有效微分信号的问题，引入改进跟踪微分器，在快速精确跟踪信号的同时抑制了量测噪声的影响。仿真结果验证了所提方法的有效性。
- L₁自适应控制 /
- 跟踪微分器 /
- 尾座式无人机 /
- 姿态控制 /
- 量测噪声
Abstract:
Aiming at the problem that the tail-sitter UAV is sensitive to wind disturbance in the vertical take-off and landing (VTOL) stage, an attitude control law based on L₁-ITD is proposed. Firstly, a 6-DOF nonlinear model of a tail-sitter UAV in VTOL stage is established, and an L₁ adaptive attitude controller for the UAV is designed. The controller can suppress the influence of disturbance on system performance and achieve good attitude control performance with wind disturbance and model uncertainty in VTOL stage. Then, aiming at the problem that L₁ adaptive control method is sensitive to measurement noise and cannot directly obtain effective differential signal, an improved tracking differentiator is used to track the signal quickly and accurately while suppressing the influence of measurement noise. Finally, the simulation results demonstrate the effectiveness of the proposed control method.
- L₁ adaptive control /
- tracking differentiator /
- tail-sitter UAV /
- attitude control /
- measurement noise

HTML全文

图 1 尾座式无人机

Figure 1. Tail-sitter UAV

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图 2 L₁自适应控制系统结构

Figure 2. L₁ adaptive control system structure

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图 3 控制器整体结构

Figure 3. Structure of controller

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图 4 分段常值风干扰下L₁自适应控制与PID控制效果对比曲线

Figure 4. Under segmented constant wind disturbance comparison curves between L₁ adaptive control and PID control

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图 5 正弦高频风干扰下L₁自适应控制与PID控制效果对比曲线

Figure 5. Under sinusoidal high-frequency wind disturbance comparison curves between L₁ adaptive control and PID control

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图 6 组合风干扰

Figure 6. Combined wind disturbance

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图 7 加入量测噪声后L₁自适应控制方法效果曲线

Figure 7. L₁ adaptive control curve after adding measurement noise

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图 8 基于L₁-ITD控制效果

Figure 8. Control effect based on L₁-ITD

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图 9 各操纵机构控制指令变化

Figure 9. Changes in control commands of each operating mechanism

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