基于ADRC的尾座式无人机姿态控制

Attitude control of tailseat UAV based on ADRC

基于小型尾座式无人机进行自抗扰控制器的设计。无人机平台采用凤凰无人机平台:一套完整开源的尾座式无人机平台。该小型尾座式无人机采用2个电机和舵面完成无人机的垂直起降和前飞。在建模方面建立了无人机运动学、动力学和作动器的数学模型,为解决该无人机姿态表示的奇异性问题,采用旋转矩阵表示姿态。为提高无人机垂直起飞和前飞过程的抗干扰能力,设计了基于ADRC(主动抗干扰控制)的姿态控制器,通过Simulink进行了仿真验证。

This article presents the design of a self-disturbance rejection controller for a small-scale tail-sitter unmanned aerial vehicle(UAV).The UAV platform adopts Phoenix UAV:a complete open source tailseat UAV platform.The drone contains two motors and rudder surfaces to complete the vertical takeoff and landing and forward flight of the drone.In terms of modeling,this paper establishes the mathematical model of UAV kinematics,dynamics and actuators.At the same time,in order to solve the singularity problem of UAV attitude representation,a rotation matrix is used to represent the attitude.In the aspect of UAV control,in order to improve the anti-interference ability of UAV during vertical take-off and forward flight,an attitude controller based on ADRC(Active Disturbance Rejection Control)is designed,and finally the simulation verification is carried out through Simulink,the simulation results indicate that the controller possesses a certain degree of disturbance rejection capability.