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二自由度无人直升机的非线性自抗扰姿态控制

王怡怡 赵志良

王怡怡,  赵志良.  二自由度无人直升机的非线性自抗扰姿态控制.  自动化学报,  2021,  47(8): 1951−1962 doi: 10.16383/j.aas.c190521
引用本文: 王怡怡,  赵志良.  二自由度无人直升机的非线性自抗扰姿态控制.  自动化学报,  2021,  47(8): 1951−1962 doi: 10.16383/j.aas.c190521
Wang Yi-Yi,  Zhao Zhi-Liang.  Nonlinear active disturbance rejection attitude control of two-DOF unmanned helicopter.  Acta Automatica Sinica,  2021,  47(8): 1951−1962 doi: 10.16383/j.aas.c190521
Citation: Wang Yi-Yi,  Zhao Zhi-Liang.  Nonlinear active disturbance rejection attitude control of two-DOF unmanned helicopter.  Acta Automatica Sinica,  2021,  47(8): 1951−1962 doi: 10.16383/j.aas.c190521

二自由度无人直升机的非线性自抗扰姿态控制

doi: 10.16383/j.aas.c190521
基金项目: 国家自然科学基金(61973202), 流程工业综合自动化国家重点实验室开放课题基金资助
详细信息
    作者简介:

    王怡怡:陕西师范大学数学与统计学院硕士研究生. 主要研究方向为非线性系统控制. E-mail: wang11@snnu.edu.cn

    赵志良:陕西师范大学数学与统计学院教授, 2012年获中国科学技术大学数学科学学院博士学位. 主要研究方向为非线性系统控制, 有限时间控制, 自抗扰控制. 本文通信作者. E-mail: zhiliangzhao@snnu.edu.cn

Nonlinear Active Disturbance Rejection Attitude Control of Two-DOF Unmanned Helicopter

Funds: Supported by National Natural Science Foundation of China (61973202), State Key Laboratory of Synthetical Automation for Process Industries
More Information
    Author Bio:

    WANG Yi-Yi Master student at the School of Mathematics and Statistics, Shaanxi Normal University. Her main research interest is nonlinear systems control

    ZHAO Zhi-Liang Professor at the School of Mathematics and Statistics, Shaanxi Normal University. He received his Ph. D. degree from the School of Mathematical Sciences, University of Science and Technology of China in 2012. His research interest covers nonlinear system control, finite-time control, and active disturbance rejection control. Corresponding author of this paper

  • 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.

  • 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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  • 收稿日期:  2019-07-09
  • 录用日期:  2020-01-09
  • 刊出日期:  2021-08-20

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