| 引用本文: | 陶金,孙青林,陈增强,等.伞翼无人机线性自抗扰高度控制.[J].国防科技大学学报,2017,39(6):103-110.[点击复制] |
| TAO Jin,SUN Qinglin,CHEN Zengqiang,et al.Linear active disturbance rejection altitude control for parawing unmanned aerial vehicle[J].Journal of National University of Defense Technology,2017,39(6):103-110[点击复制] |
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| 伞翼无人机线性自抗扰高度控制 |
| 陶金1,2, 孙青林1, 陈增强1, 贺应平3 |
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(1. 南开大学 计算机与控制工程学院， 天津 300350;2. 阿尔托大学 电子工程与自动化学院， 芬兰 埃斯波 02150;3. 中航工业集团 航宇救生装备有限公司， 湖北 襄阳 441003)
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| 摘要: |
| 针对伞翼无人机参数不确定性和复杂环境干扰敏感的问题，提出一种伞翼无人机线性自抗扰(Linear Active Disturbance Rejection Control, LADRC)高度控制方法。建立伞翼无人机8自由度飞行动力学模型，并引入风场和降雨模型以更加准确地模拟真实飞行环境。基于LADRC确定总体控制架构，设计线性扩张状态观测器对所有扰动进行估计，并引入误差反馈率在控制中实时补偿。使用该控制方法在多种扰动工况下进行伞翼无人机高度控制仿真实验。仿真结果表明，基于LADRC的高度控制方法能够有效克服内扰和外扰的影响，实现高精度高度控制；与传统PID控制效果相比，LADRC控制器具有更好的抗扰能力和鲁棒性。 |
| 关键词: 伞翼无人机 线性自抗扰控制 高度控制 风雨环境 内扰与外扰 |
| DOI：10.11887/j.cn.201706016 |
| 投稿日期：2016-06-27 |
| 基金项目:国家自然科学基金资助项目（61273138，61573197）；国家科技支撑计划资助项目（2015BAK06B04）；天津市重点基金资助项目（14JCZDJC39300）；天津市科技支撑计划重点资助项目（14ZCZDSF00022） |
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| Linear active disturbance rejection altitude control for parawing unmanned aerial vehicle |
| TAO Jin1,2, SUN Qinglin1, CHEN Zengqiang1, HE Yingping3 |
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(1. College of Computer and Control Engineering, Nankai University, Tianjin 300350, China;2.
2. Department of Electrical Engineering and Automation, Aalto University, Espoo 02150, Finland;3. Aerospace LifeSupport Industries Ltd., Aviation Industry Corporation of China, Xiangyang 441003, China)
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| Abstract: |
| In order to reduce the effects of parameter variations and complex environment disturbances on the altitude control of parawing UAVs (unmanned aerial vehicles), an altitude control strategy based on LADRC (linear active disturbance rejection control) was studied. An eight degree of freedom model of a parawing UAV was built, and the wind and rain models were introduced for the accurate simulation of real flight environments. Based on the features of LADRC, the whole control structure was determined. As a result, the internal and external disturbances were estimated by using linear extended state observer and compensated real-timely by the feedback control law. Flight simulation experiments under various disturbance conditions were conducted. Simulation results show that the altitude control method based on LADRC can not only accurately estimate and compensate the internal/external disturbances but also implement precise altitude control. Compared with standard PID controller, the LADRC controller has better robustness and disturbance rejection ability. |
| Keywords: parawing unmanned aerial vehicle linear active disturbance rejection control altitude control wind and rain environment internal and external disturbance |
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