摘要
针对四旋翼无人机控制模型耦合程度高、非线性关系复杂,设计了一种基于PID和LESO的控制方法,选取无人机的某个状态变量作为控制量,通过简化模型对状态变量进行解耦控制,进而在控制系统中加入线性扩张状态观测器(LESO),提高模型的抗干扰能力。通过仿真和实际飞行与传统PID方法进行比较,充分验证了自抗扰控制(ADRC)在无人机飞行控制中具有鲁棒性强、精度高、易于实现等特点。
In view of high coupling degree and complex nonlinearity of the quadrotor unmanned aerial vehicle control model,a control method based on the PID and LESO is designed in this paper.First,a state variable of the UAV is selected as the control variable and the model is simplified for decoupling the control of the state variable.Then,the linear expansion state observer（LESO）is added to the control system for improving the anti-interference ability of the model.By comparing with the traditional PID method in the simulation and actual flight,it is fully verified that the auto disturbance rejection controller（ADRC）has the advantages of strong robustness,high precision and easy realization in UAV flight control.
作者
田磊
TIAN Lei(School of Automation Science and Engineering,Beihang University,Beijing 100191,China;Science and Technology on Aircraft Control Laboratory,Beihang University,Beijing 100191,China)
出处
《导航定位与授时》
2018年第4期37-42,共6页
Navigation Positioning and Timing
