基于ESO的仿蝙蝠扑翼飞行器姿态控制仿真

Attitude Control and Simulation for a Bat Flapping Flight Based on ESO

针对仿蝙蝠扑翼飞行器的纵向气动特性不稳定、易受扰动的问题,设计了一种基于扩张状态观测器(ESO)的姿态控制方法,实现了扑翼飞行器姿态的稳定与抗干扰控制。首先建立仿蝙蝠扑翼飞行器的动力学模型;进而在该模型基础上分析了扑翼飞行器的纵向稳定性;然后将系统的不确定部分与各种未知的外界扰动作为系统的总扰动,引入ESO模块对总扰动进行实时观测与跟踪;最后在原有的PID控制器中加入扰动补偿环节。数值仿真结果表明,基于ESO的控制算法对于仿蝙蝠扑翼飞行器的控制效果显著优于基于PID的控制方法,阶跃响应的调节时间加快41.27%,对系统输入的白噪声干扰波动峰值从6.02%降低到2.82%,正弦扰动的波动峰值从11.56%降低到3.22%。

An attitude control method based on ESO(Extended State Observer)is proposed for the bat-like flapping wing aircraft to solve the problem that the flapping-wing flight is susceptible to interference with unstable longitudinal aerodynamic characteristics.Firstly,the dynamics model of the bat-like flapping wing aircraft was established.Then we analyzed the longitudinal stability on the basis.The uncertain part of this system and various unknown external disturbance are considered as the lumped disturbance of the system,which is observed and tracked by the ESO module in real time,then the control method adds disturbance compensation part to the original PID controller.The numerical simulation results show that the control method based on ESO is significantly better than that based on PID for the bat-like flapping-wing aircraft,where the transient time of step response is accelerated by 41.27%,and the range of fluctuation is increased from 6.02%to 2.82%under white noise interference,and from 11.56%to 3.22%under sinusoidal interference.