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四旋翼无人机由于受到自身的非线性、模型的不确定性和外部突发气流等的影响,较难完成预设的飞行任务.为此,使用自抗扰控制,通过安排合理的过渡过程减少超调和设计扩张状态观测器来估计总扰动并实时补偿,并实现四旋翼无人机姿态控制.仿真结果表明:相比传统PID控制,该控制方法使得四旋翼无人机能够更好地适应自身参数的变化和应付外部气流带来的影响,具有更好的鲁棒性和抗扰性.同时验证了自抗扰控制器下的系统具有超调小、精度高、收敛速度快、抗扰能力强和鲁棒性能好等特点.
Due to its own non-linearity, model uncertainty and external sudden air flow, Quadrotor UAVs are more difficult to complete the pre-set mission.For this purpose, using self-disturbance rejection control, by arranging a reasonable transition process Reduce overshoot and design expansion state observer to estimate total disturbance and compensate in real time and realize attitude control of quadrotor UAV.The simulation results show that this control method can make quadrotor UAV better adaptive than traditional PID control The change of its own parameters and the influence of external air flow, it has better robustness and immunity.At the same time verify that the ADRC system has the advantages of small overshoot, high precision, fast convergence, anti-interference Strong ability and good robustness and so on.