摘要
近年来随着自动控制技术的飞速发展,四旋翼飞行器在军事领域和民用方面均得到了广泛应用。飞行器控制系统的抗干扰能力决定了四旋翼飞行器飞行性能的稳定性和可靠性。飞行器控制系统常采用经典PID(Proportional Integral Derivative)方法,该方法容易受到外界的干扰,增大了控制难度。本文采用自抗扰控制(Auto Disturbances Rejection Control,ADRC)算法对四旋翼飞行器模型的飞行位置和姿态进行了控制。通过与PID算法控制结果对比,可以得到以下结论:基于ADRC算法控制的四旋翼飞行器起飞1-2s后,其飞行位置、姿态、位置和姿态回路扰动均与期望值有较高的重叠性,同时飞行器的水平和空间飞行轨迹呈现出圆滑、平稳。因此,ADRC能够有效地解决飞行器的内部通道耦合和外部干扰等问题,使得四旋翼飞行器能更加方便、可靠、稳定地应用于各个领域。
In recent years, with the rapid development of automatic control technology, quadrotor aircraft has been widely used in military and civil fields. The anti-interference ability of the control system determines the stability and reliability of the flight performance of the quadrotor vehicle. The classical Proportional Integral Derivative(PID) method is often used in aircraft control system, which is easy to be interfered by the outside world and increases the control difficulty. In this paper, the Auto Disturbances Rejection Control(ADRC) algorithm is used to control the flight position and attitude of the quadrotor vehicle model. Compared with PID algorithm, the following conclusions can be obtained: after taking off for 1-2 s, the disturbance of flight position, attitude, position and attitude loop of the quadrotor vehicle controlled by ADRC algorithm has a high overlap with the expected value, and the horizontal and space flight trajectory of the vehicle presents a smooth and stable. Therefore, ADRC can effectively solve the problems of internal channel coupling and external interference, which makes the quadrotor aircraft more convenient, reliable and stable in various fields.
作者
蔡锦凡
陶家鑫
马亚红
CAI Jin-fan;TAO Jia-xin;MA Ya-hong(School of information engineering,XiJing University,Xi’an,Shannxi 710123)
出处
《软件》
2020年第3期29-34,共6页
Software
基金
陕西省创新能力支撑计划项目(批准号:2018KJXX-095)
西京学院特区人才科研启动专项基金(批准号:XJ17T03)。
作者简介
马亚红(1982-),女,副教授,主要研究方向:物联网与大数据技术;蔡锦凡(1995-),男,研究生,主要研究方向物联网与大数据技术;陶家鑫(1995-),男,研究生,主要研究方向物联网与大数据技术。
