基于ADRC控制器的六旋翼姿态控制研究

Research on Attitude Control of Six Rotor Based on ADRC Controller

六旋翼无人机是带有冗余的复杂飞行系统。而六旋翼无人机的未建模动态、外扰和内扰,都会对无人机的姿态控制产生影响,增加控制的难度。为了提高六旋翼无人机系统的鲁棒性和动态性能,提出基于自抗扰控制器的六旋翼控制方案。先用二阶微分跟踪器对控制信号进行平滑和微分,然后用扩张状态观测器对未知扰动进行观测,然后利用非线性控制律进行补偿,把内扰和外扰统一进行观测,提高了系统的稳定性和抗扰能力。通过仿真验证和对比,发现该控制系统对比传统PID系统具有更强的抗扰能力。并且不会出现明显的超调,控制带宽对比串级PID有小幅提升。表明该控制系统具有较好的动态性能以及抗扰能力和鲁棒性。

The six rotor UAV is a complex flight system with redundancy. The unmodeled dynamics, external disturbances and internal disturbances of the six-rotor UAV affect the attitude control of the UAV and increase the difficulty of the control. In order to improve the robustness and dynamic performance of the six-rotor UAV system, a six-rotor control scheme based on ADRC is proposed. First, the two order differential tracker is used to smooth and differential the control signal. Then the unknown disturbance is observed with an extended state observer, and then the nonlinear control law is used to compensate the disturbance. The internal disturbance and the external disturbance are observed, and the stability and anti-interference ability of the system are improved. Through simulation verification and comparison, it is found that the control system has stronger anti-jamming ability compared with the traditional PID system. And there will be no obvious overshoot, and the control bandwidth has a slight improvement compared with the cascade PID. It shows that the control system has better dynamic performance, disturbance rejection and robustness.