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针对小型四旋翼无人机飞行过程中姿态控制容易受侧向风干扰的问题,研究了一种自抗扰控制(ADRC)律。首先分析了侧向风对旋翼的推力,然后建立了风速的组合模型,利用自抗扰控制方法对风的干扰进行估计和补偿,最后在Matlab平台上对所提出的ADRC控制律进行仿真验证。从仿真结果看ADRC控制能够较好地对侧向风的干扰进行估计补偿,从而保证姿态控制具有较好的稳定性。
Aiming at the problem that attitude control of small quadrotor UAV is easily influenced by lateral wind during the flight, an ADRC law is studied. Firstly, the thrust of the lateral wind on the rotor is analyzed. Then the wind speed model is established, and the wind disturbance is estimated and compensated by using the ADRC method. Finally, the proposed ADRC control law is verified by Matlab. From the simulation results, the ADRC control can estimate and compensate the lateral wind disturbance well, so as to ensure that the attitude control has a good stability.