抗时滞LADRC的六旋翼飞行器姿态控制

Attitude Control of Six-rotor Helicopter Based on Anti-delay Linear Active Disturbance Rejection Control

以X形六旋翼飞行器为研究対象,依据牛顿第二定律和牛顿-欧拉方程建立了六旋翼飞行器数学模型,提出了基于抗时滞线性自抗扰的六旋翼飞行器姿态控制策略实现了飞行器的姿态稳定跟踪控制,解决了姿态控制延迟和执行机构动态特性可能引起的LADRC响应振荡。在MATLAB/Simulink下搭建仿真模型,对飞行器在理想情况和有外界扰动条件下分別在PID控制器和抗时滞线性自抗扰控制器作用进行仿真,仿真结果表明:抗时滞线性自抗扰控制的六旋翼飞行器姿态控制系统具有较高的动态品质、稳态精度以及较强的鲁棒性且该控制器待整定参数较少,计算简单。

Taking ＂X＂ type of six-rotor helicopter as a research object, the mathematical model of six-rotor helicopter was built according to Newton Euler and Newton′s Second Law.An anti-delay LADRC attitude control strategy is proposed to effectively solve the problem of attitude control delay and actuator dynamic process, which can cause response oscillation in LADRC, and then the attitude stabilization control of the six-rotor helicopter was realized on.The simulation model was established under the circumstance of MATLAB/SIMULINK according to the established mathematic model.PID controller and anti-delay LADRC controller to simulate for helicopter control system under the condition of ideal situation and external disturbances.Simulation result shows that the anti-delay LADRC always has high value of dynamic characteristic、stability precision and strong robustness when the six-rotor helicopter attitude control system under ideal situation or external disturbances.The proposed controller is simple and has fewer parameters to setting.