基于LADRC的四旋翼姿态解耦控制方法

Attitude Decoupling Control for Quadrotor Aircraft Based on Linear Active Disturbance Rejection Control Technique

针对基于自抗扰控制技术(ADRC)构建的小型四旋翼飞行器非线性姿态控制器,存在设计复杂、整定参数多、工程实现困难的问题,提出了一种基于线性自抗扰控制器(LADRC)的四旋翼飞行器姿态解耦控制方法。建立了四旋翼飞行器姿态的非线性耦合数学模型,引入LADRC,阐述了其对多变量系统的解耦抗扰控制原理及参数整定方法,并对四旋翼飞行器的姿态耦合数学模型进行了解耦;采用二阶LADRC建立了飞行器姿态控制回路,根据飞行器姿态控制中过渡时间的要求对控制器参数进行了整定;最后进行了仿真分析,结果表明,该姿态控制算法不依赖于精确的数学模型,具有较强的鲁棒性和抗干扰性,且仅需对一个参数进行整定,降低了工程应用难度,具有较强的实际应用价值。

An attitude decoupling controller based on linear active disturbance rejection control(LADRC)is designed for small quadrotor aircraft,considering the problems existing in the controller based on active disturbance rejection control(ADRC),such as complicated design and parameters tuning,difficulties in project implementation.First,the nonlinear and couple model of small quadrotor aircraft are established,LADRC is introduced,describing the principles of its ability of decoupling rejection control for multiple-input and multiple-Output(MIMO)system and tuning method,then the model is decoupled.After that,the attitude controller based on second-order LADRC is designed and parameters is turned according to the desired settling time.Finally,simulation test the design is carried out.The simulation results indicate that the designed controller has strong robustness and anti-disturbance performance,and doesn’t need accurate models.Also,there is only one parameter needs tuning in this controller,which makes the design easy to be realized.The controller shows great value in engineering.