摘要
研究无人旋翼机器人在干扰情况下的航向控制问题。无人旋翼机航向动力学包含输入非线性、时变参数和主-尾旋翼之间的强耦合,难以建立精确的数学模型,并且易受外部扰动影响,很难达到良好的控制性能。针对这一问题提出基于线性自抗扰控制(linear adaptive disturbance rejection control,LADRC)的航向控制方法,通过设计扩张线性状态观测器对未知模型和外界干扰进行实时估计并进行在线补偿。以自主研制的无人旋翼机为例,建立其航向动力学方程,把通道间的交叉耦合影响视为不确定扰动,将其与外部干扰作为扩张状态,利用观测器带宽确定观测器增益,设计线性扩张状态观测器来跟踪各阶扩张状态变量,为说明LADRC的有效性,选用PD控制为非线性状态误差反馈控制律实现航向控制。仿真以及试验结果表明在外部扰动或模型结构参数发生变化时控制器仍可获得理想的动态性能,具有很好的适应性和鲁棒性。
The yaw tracking problem of unmanned rotorcraft under disturbance condition is studied. The yaw dynamics of unmanned rotorcraft involves input nonlinearity, time-varying parameters and the strong coupling between main and tail rotors, which is difficult to establish an accurate mathematic model and vulnerable to external disturbance. All of these make it difficult to have a good tracking performance. Aiming at these problems, a yaw tracking control method based on linear adaptive disturbance rejection control （LADRC） is presented. The linear extended state observer （LESO） is designed to implement the real-time estimation and online compensation of the unknown model and exter- nal disturbance. The self-made unmanned rotorcraft is studied using this method;The yaw dynamics model is built up;then the cross coupling effect between channels is taken as the uncertain disturbance, which is combined with the external disturbance and both of them are taken as the extended states ; the extended state observer bandwidth is used to determine the extended state observer gain;linear extended state observer is designed to track various order extend- ed state parameters. In order to illustrate the effectiveness of LADRC, the PD control method is introduced as the non- linear states error feed-back law to implement the yaw tracking control. Simulation and experiment results show that this method can obtain ideal dynamic performance and has good adaptability and robustness under external disturbance and unknown variation in model parameters.
出处
《仪器仪表学报》
EI
CAS
CSCD
北大核心
2013年第8期1894-1900,共7页
Chinese Journal of Scientific Instrument
基金
国家自然科学基金重点项目(61233010)
上海市科研创新项目(12YZ009)
上海市优秀学术带头人项目(12XD1402600)资助
关键词
无人旋翼机
线性自抗扰控制
扩张线性状态观测器
航向控制
unmanned rotorcraft
linear adaptive disturbance rejection control
linear extended state observer
yaw tracking control
