Nonlinear Active Disturbance Rejection Attitude Control of Two-DOF Unmanned Helicopter
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摘要:
无人机高性能姿态控制的难题之一是无人机系统模型通常无法精确建立且受到复杂外部干扰的作用. 针对这一难题, 本文提出了二自由度无人直升机姿态控制的非线性自抗扰控制设计方法. 该方法的主要思想是将系统内部的未建模动态和外部干扰等不确定性因素作为“总扰动”, 利用输入输出信息在线观测, 并在反馈控制环节对其进行补偿. 本文发展了非线性扩张状态观测器与非线性反馈控制律用以提高控制品质. 本文严格证明了控制闭环系统的稳定性和收敛性, 并通过数值仿真验证了理论结果的有效性. 数值结果显示当量测输出受噪音干扰时本文提出的方法优于线性自抗扰控制方法和滑模控制方法.
Abstract:A major challenge of high-performance attitude control of unmanned aerial vehicle (UAV) is that the mathematical models of UAVs are always not accurately built and they are often disturbed by external disturbances. Taking up this challenge, in this paper we develope a nonlinear active disturbance rejection control (ADRC) method for attitude control of two-degree-of-freedom unmanned helicopters. The key idea of this method is online estimating the “total disturbance” which is composed by un-modeled system dynamics and external disturbance at first, and then compensate it in the feedback control. In this paper, we develop a nonlinear extended state observer and a nonlinear feedback controller to improve the control performance. The stability and convergence of the closed-loop control systems are proved strictly. The effectiveness of the theoretical results are verified by simulations. The numerical results show that, when the measured output is contaminated by random noise, the performance of the controller proposed in this paper is better than the linear ADRC and sliding model control.
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图 1 二自由度无人直升机简化图
Fig. 1 Simplified diagram of two degree of freedom unmanned helicopteropter
图 2 第I组参数下不受噪声污染时的数值结果
Fig. 2 Numerical results without noise pollution under parameters group I
图 3 第I组参数下受噪声污染时的数值结果
Fig. 3 Numerical results with noise pollution under parameters group I
图 4 第II组参数下不受噪声污染时的数值结果
Fig. 4 Numerical results without noise pollution under parameters group II
图 5 第II组参数下受噪声污染时的数值结果
Fig. 5 Numerical results with noise pollution under parameters group II
图 6 第III组参数下不受噪声污染时的数值结果
Fig. 6 Numerical results without noise pollution under parameters group III
图 7 第III组参数下受噪声污染时的数值结果
Fig. 7 Numerical results with noise pollution under parameters group III
表 1 三组系统参数
Table 1 Three sets of system parameters
参数 I II III $\tau_{pp}\;({\rm{ {\rm{Nm/V} } } })$ 0.204 2.04 20.4 $\tau_{py}\;({\rm{Nm/V} })$ 0.0068 0.068 0.68 $\tau_{yy}\;({\rm{Nm/V} })$ 0.072 0.72 7.2 $\tau_{yp}\;({\rm{Nm/V} })$ 0.0219 0.219 2.19 $D_{p}\;(N/V)$ 0.8 8 80 $D_{y}\;(N/V)$ 0.318 3.18 31.8 $I_{p}\;({\rm{kg} }\cdot {\rm{m} }^{3})$ 0.0384 0.384 3.84 $I_{y}\;({\rm{kg} }\cdot {\rm{m} }^{3})$ 0.0432 0.432 4.32 $m \;({\rm{kg} })$ 1.3872 13.872 138.72 $l \;({\rm{m} })$ 0.186 1.86 18.6 $g\; ({\rm{m/s} }^{-2})$ 9.81 9.81 9.81 
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