四旋翼无人机双螺旋桨推进跟踪最优控制仿真

Optimize Control and Simulation for Twin Propeller Propulsion of Four-rotor UAV

双螺旋桨推进跟踪系统在四旋翼无人机悬吊的动态环境中,要求根据上位机实时控制指令调整空间位置,保证双螺旋桨推进系统在空间中始终保持精准的位置输出。如何降低外界的随机扰动对系统的影响,同时保证系统的动态跟随性能是设计的一大难点。为了解决上述问题,提出了一种利用干扰观测的最优控制器方法。采用极点配置法设计干扰推力观测器实时观测出外部干扰推力。通过前馈补偿的方式降低干扰推力对系统的影响。为了平衡系统误差和输入的控制量,设计最优控制器来保证整体反馈系统的鲁棒稳定性。通过对设计的控制器进行仿真验证,表明优化后的系统受到扰动时有更小的超调和恢复时间,说明带有干扰观测器的最优控制器能够有效地补偿外部扰动,提高推进系统的位置响应精度及抗干扰能力。

The twin propeller propulsion system adjusts the space position according to PC real -time control instruction to maintain a precise position output in space in the four - rotor suspension of the dynamic environment. In order to reduce the impact of the random disturbance of the system and ensure the dynamic performance of the system, an optimal control method based on interference observation is proposed. The interference thrust observer is designed in real time by using pole placement method. The influence of the interference thrust on the system is reduced through feed - forward compensation. In order to balance the system error and input control quantity, the optimal controller is designed to ensure the robust stability of the overall feedback system. The simulation results verify that the optimized system has smaller overshoot and shorter recovery time. The optimal controller with disturbance observer can effectively compensate the disturbances and improve the accuracy of position response and anti - interference ability of the propulsion system.