无人直升机航向自抗扰控制
Active disturbance rejection control for heading of unmanned helicopter
摘要点击 1227  全文点击 1898  投稿时间:2013-06-28  修订日期:2013-10-06
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DOI编号  10.7641/CTA.2014.30643
  2014,31(2):238-243
中文关键词  无人直升机  航向控制  自抗扰控制  串级控制
英文关键词  unmanned helicopter  heading control  ADRC  cascade control
基金项目  国家自然科学基金资助项目(61325017, 11372144).
学科分类代码  
作者单位E-mail
方勇纯 南开大学 机器人与信息自动化研究所 yfang@robot.nankai.edu.cn 
申辉 南开大学 机器人与信息自动化研究所 hnshhnk1988@163.com 
孙秀云 德州学院 机电工程学院  
张旭 天津大学 电气工程与自动化学院  
鲜斌 天津大学 电气工程与自动化学院  
中文摘要
      针对无人直升机系统航向通道扰动大等问题, 本文设计了一种自抗扰控制算法来实现其高性能控制. 首先分析了航向通道的动态模型, 并通过数学变换, 将其转化为一类二阶系统; 在此基础上, 本文设计了适用于无人 机航向通道的自抗扰控制策略, 它由跟踪微分器、扩展状态观测器、控制器3个环节构成. 本文对所设计的自抗扰控制策 略进行了仿真和实验测试, 并与常见的串级控制方法进行了对比分析. 仿真与实验结果表明: 这种自抗扰控制策略具有 对扰动抑制能力强、控制精度高等优点, 其控制性能明显优于常规的串级比例–积分–微分控制方法.
英文摘要
      To deal with various disturbances presented in the heading subsystem of an unmanned helicopter, we develop an active-disturbance-rejection control (ADRC) law to achieve high performance control. A single-input-single-output (SISO) model is firstly built through carefully analyzing the heading system of the studied helicopter. This model is then transformed into a 2nd-order system to facilitate the subsequent design work. Based on this model, an ADRC strategy is designed for the heading system including a tracking differentiator, an extended state observer (ESO) and a tracking control law. The proposed control strategy is thoroughly tested by simulation and experiments with results compared with those obtained from a normal cascade controller. The comparisons demonstrate that the ADRC strategy is more advantageous in disturbance rejection, with higher control accuracy and so on. Therefore, for an unmanned helicopter, the proposed ADRC control law is far superior to the current cascade control method.