基于改进ESO的四旋翼姿态自抗扰控制器设计

doi:10.12305/j.issn.1001-506X.2022.12.24

摘要/Abstract

摘要：

针对四旋翼无人机姿态自抗扰控制(active disturbance rejection control, ADRC)系统在姿态角测量反馈信号受传感器噪声污染时, 基于传统非线性非光滑fal函数的扩张状态观测器(extended state observer, ESO)观测精度不足的问题, 构建了一种新型非线性光滑galn函数以重新设计ESO, 并利用Matlab/Simulink仿真软件进行性能验证。仿真结果表明: 与传统fal函数相比, 本文构建的galn函数为光滑且具有更好的收敛性, 更能体现“大误差小增益”的工程思想; 基于galn函数设计的改进型ESO具有更强的误差跟随能力; 采用改进型ESO设计的四旋翼姿态ADRC系统具有更好的跟踪能力和抗干扰能力。

关键词: 四旋翼无人机, 扩张状态观测器, 自抗扰控制, galn函数

Abstract:

For the attitude active disturbance rejection control (ADRC) system of quadrotor unmanned aerial vehicle (UAV), when the feedback signal of attitude angle measurement is polluted by sensor noise, the extended state observer (ESO) of the traditional nonlinear nonsmoothed fal function is not accurate enough. Based on this problem, a new nonlinear smooth galn function is constructed to redesign ESO, and the performance is verified by Matlab/Simulink simulation software. The simulation results show that compared with the traditional fal function, the galn function constructed is smooth and has better convergence, and can better reflect the engineering idea of "large error and small gain". The improved ESO based on galn function has stronger error following capability. The quadrotor attitude ADRC system designed by improved ESO has better tracking and anti-jamming capability.

Key words: quadrotor unmanned aerial vehicle (UAV), extended state observer (ESO), active disturbance rejection controll (ADRC), galn function

中图分类号:

TP273

杨文奇, 卢建华, 姜旭, 王元鑫. 基于改进ESO的四旋翼姿态自抗扰控制器设计[J]. 系统工程与电子技术, 2022, 44(12): 3792-3799.

Wenqi YANG, Jianhua LU, Xu JIANG, Yuanxin WANG. Design of quadrotor attitude active disturbance rejection controller based on improved ESO[J]. Systems Engineering and Electronics, 2022, 44(12): 3792-3799.

图/表 14

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符号	物理含义	数值
m/kg	机体质量	1.4
d/m	旋翼质心到中心距离	0.225
g/(m·s^-1)	重力加速度	9.8
k_T/(N·s^-2)	升力系数	1.105e-05
k_M/(N·m·s^-2)	反扭力矩系数	1.779e-07
I_x/(kg·m²)	x轴转动惯量	0.021 1
I_y/(kg·m²)	y轴转动惯量	0.021 9
I_z/(kg·m²)	z轴转动惯量	0.036 6
J_T/(kg·m²)	旋翼转动惯量	1.287e-04

控制器模块	参数符号	俯仰通道
TD	r₀	20
TD	h₀	0.004
ESO	β₁	250
	β₂	2 000
	β₃	3 000
	σ₁	0.5
	σ₂	0.25
NLSEF	h₁	5
	b	47.4
	r₁	200
	c	5

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