基于自抗扰理论的无人机横侧向解耦控制研究

Study on Decoupling Control of UAV Lateral Based on Auto-Disturbance-Rejection Control Theory

为了改善传统PID控制方法设计的无人机横侧向解耦控制系统的性能,根据无人机横侧向数学模型和自抗扰控制解耦理论,设计了自抗扰解耦控制系统;基于自抗扰控制器参数整定方法完成了控制参数的设计,并通过Simulink仿真给出了滚转角及侧滑角扰动下的响应曲线;仿真结果表明,自抗扰解耦控制系统比传统PID方法设计的解耦控制系统能更快地趋向稳定,而且稳态误差更小,证明了与采用传统方法设计的系统相比,采用ADRC技术解耦后的无人机横侧向系统具有更强的抗扰动性和鲁棒性。

According to the UAV lateral mathematic model and auto--disturbance--rejection decoupling control theory, the auto--dis turbance--rejection decoupling controller is designed to improve the performance of decoupling control system of UAV lateral designed with PID traditional method. The controller parameters are designed with parameter design method of auto--disturbance--rejection controller, and the response curves of rolling angel disturbance and slide angel disturbance are given. The simulation result shows that the decoupling controller designed with auto--disturbance--rejection decoupling control theory has much faster speed of stabilization and much smaller stabi lization error than the decoupling controller designed with PID traditional method. It is proved that the decoupling controller designed with auto--disturbance--rejection decoupling control theory has much better performance of active--disturbance and robust than the decoupling controller designed with PID traditional method.