自抗扰技术在动力翼伞轨迹跟踪控制中的应用

Application of active disturbance rejection control in trajectory tracking of powered parafoil system

为了降低动力翼伞系统的非线性特性和风场干扰对轨迹跟踪控制的影响,设计基于自抗扰控制技术的轨迹跟踪控制器.根据动力翼伞系统的特性,将动力翼伞系统的轨迹跟踪控制分为水平轨迹控制通道和垂直高度控制通道,分别设计线性扩张状态观测器(LESO)对系统非线性扰动和外部干扰进行估计和补偿.采用零阶保持器法对线性扩张状态观测器进行离散化,提高线性扩张状态观测器对系统状态的估计效果.仿真结果表明,动力翼伞系统的线性自抗扰轨迹跟踪控制器能够克服风场的影响,达到水平方向和竖直方向的轨迹跟踪控制要求,控制效果优于广义预测控制器.

The trajectory tracking controllers based on active disturbance rejection control （ADRC） wereproposed in order to reduce the influence of nonlinear characteristics of powered parafoil system and winddisturbance on the trajectory tracking control, involving the horizontal trajectory control channel and thevertical altitude control channel. The linear extended state observers （LESO） of the control channels wereseparately constructed to estimate and compensate the nonlinear and external disturbances. The zero-orderhold discretization method was implemented to discretize LESO so that the estimation ability of LESO forsystem states was enhanced. Simulation results show that ADRC controllers achieve better trackingperformance and robustness against the internal and external wind disturbance compared with thegeneralized predictive controller.