面向小型四旋翼无人机的BPPID-LADRC串级抗扰控制器

BPPID-LADRC Cascade Disturbance Rejection Controller for Small Quadrotor UAV

针对常规PID控制器抗干扰能力差的问题,设计了一种面向小型四旋翼无人机的多通道抗扰BPPID-LADRC串级抗扰控制器。该控制器中,外环位置回路的高度控制器和内环回路的姿态角控制器依据线性自抗扰控制理论(LADRC)设计,而外环位置回路的水平通道控制器则采用BPPID控制器。Simulink仿真表明,在高度通道、俯仰角通道、滚转角通道以及偏航角通道存在加强干扰条件下,所设计面向小型四旋翼无人机的BPPID-LADRC串级控制器相较于传统PID控制器控制效果更加出色,符合工程实际需求。

Aiming at the poor anti-interference ability of conventional PID controller,a multi-channel anti-disturbance BP-PID-LADRC cascade anti-disturbance controller for small quadrotor UAV is designed.The height controller of the outer loop posi-tion loop and the attitude Angle controller of the inner loop are designed according to the theory of linear active disturbance rejection control(LADRC),while the channel and the channel controller of the outer loop position loop adopt BPPID controller.Simulink simulation shows that the BPPID-LADRC cascade controller designed for small quadrotor UAV is better than the traditional PID controller under the condition of enhanced interference in the height channel,pitch angle channel,roll angle channel and yaw angle channel,and meets the actual engineering requirements.