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基于扩张状态观测器的四旋翼吊挂飞行系统非线性控制

范云生 陈欣宇 赵永生 宋保健

范云生, 陈欣宇, 赵永生, 宋保健. 基于扩张状态观测器的四旋翼吊挂飞行系统非线性控制. 自动化学报, 2021, x(x): 1−13 doi: 10.16383/j.aas.c210001
引用本文: 范云生, 陈欣宇, 赵永生, 宋保健. 基于扩张状态观测器的四旋翼吊挂飞行系统非线性控制. 自动化学报, 2021, x(x): 1−13 doi: 10.16383/j.aas.c210001
Fan Yun-Sheng, Chen Xin-Yu, Zhao Yong-Sheng, Song Bao-Jian.jpg. Nonlinear control of quadrotor suspension system based on extended state observer. Acta Automatica Sinica, 2021, x(x): 1−13 doi: 10.16383/j.aas.c210001
Citation: Fan Yun-Sheng, Chen Xin-Yu, Zhao Yong-Sheng, Song Bao-Jian.jpg. Nonlinear control of quadrotor suspension system based on extended state observer. Acta Automatica Sinica, 2021, x(x): 1−13 doi: 10.16383/j.aas.c210001

基于扩张状态观测器的四旋翼吊挂飞行系统非线性控制

doi: 10.16383/j.aas.c210001
基金项目: 国家自然科学基金(61976033, 51609033)资助项目, 辽宁省重点研发指导计划(2019JH8/10100100)资助项目, 大连市软科学研究计划(2019J11CY014)资助项目
详细信息
    作者简介:

    范云生:大连海事大学船舶电气工程学院副教授,博士生导师. 主要研究方向为智能控制理论与应用. 本文通信作者. E-mail: yunsheng@dlmu.edu.cn

    陈欣宇:大连海事大学船舶电气工程学院硕士研究生. 主要研究方向为无人飞行器的非线性控制. E-mail: chenxinyu_dlmu@163.com

    赵永生:大连海事大学船舶电气工程学院教授,硕士生导师. 主要研究方向为嵌入式测控系统,检测技术与自动化装置和智能控制技术. E-mail: yszhao@dlmu.edu.cn

    宋保健:大连海事大学船舶电气工程学院博士研究生,主要研究方向为无人系统控制理论. E-mail: songbj725@163.com

Nonlinear Control of Quadrotor Suspension System Based on Extended State Observer

Funds: Supported by National Natural Science Foundation of China (61976033, 51609033), the Key Development Guidance Program of Liaoning Province of China under Grant (2019JH8/10100100), and the Soft Science Research Program of Dalian City of China under Grant (2019J11CY014)
More Information
    Author Bio:

    FAN Yun-Sheng Associate professor and doctoral supervisor at the College of Marine Electrical Engineering, Dalian Maritime University. His main research direction is intelligent control theory and application. Corresponding author of this paper

    CHEN Xin-Yu Master student at the College of Marine Electrical Engineering, Dalian Maritime University. His main research direction is nonlinear control of unmanned aerial vehicle

    ZHAO Yong-Sheng Professor and master supervisor at the College of Marine Electrical Engineering, Dalian Maritime University. His main research directions are embedded measurement and control system, detection technology and automation device and intelligent control technology

    SONG Bao-Jian Ph.D. candidate at the College of Marine Electrical Engineering, Dalian Maritime University. His main research direction is unmanned system control theory

  • 摘要: 针对一类四旋翼飞行器吊挂飞行系统的负载摆动抑制和轨迹跟踪精确控制的问题, 考虑系统存在未知外界扰动和模型动态不确定的情况, 提出了一种基于扩张状态观测器(Extended state observer, ESO)的吊挂负载摆动抑制的非线性轨迹跟踪控制方法. 本文将四旋翼吊挂飞行系统分解为姿态, 位置和负载摆动控制三个动态子系统, 分别设计非线性控制器实现欠驱动约束下的解耦控制; 设计了一种扩张状态观测器, 用以估计和补偿四旋翼与吊挂负载耦合飞行的未知外界扰动与模型动态不确定性, 并证明了闭环系统的稳定性, 跟踪误差及吊挂负载摆动所有信号的一致最终有界. 最后利用Quanser公司的QBall2飞行器进行三维空间螺旋轨迹的跟踪控制, 仿真结果验证了未知干扰下基于扩张状态观测器的四旋翼吊挂飞行非线性控制的有效性和优越性, 实现了四旋翼吊挂系统轨迹跟踪的精确控制和飞行过程中负载摆动的快速抑制.
  • 图  1  四旋翼吊挂负载耦合系统模型

    Fig.  1  Model of quadrotor suspension system

    图  2  四旋翼吊挂系统控制器

    Fig.  2  Quadrotor suspension system controller

    图  3  四旋翼吊挂系统实验平台

    Fig.  3  Experimental platform of quadrotor suspension system

    图  4  (a) ESO-空间轨迹跟踪曲线 (b) Adp-空间轨迹跟踪曲线

    Fig.  4  (a) ESO-trajectory tracking curve (b) Adp-trajectory tracking curve

    图  5  (a) ESO-xoy平面轨迹跟踪曲线 (b) Adp- xoy平面轨迹跟踪曲线

    Fig.  5  (a) ESO-xoy plane track tracking curve (b) Adp- xoy plane track tracking curve

    图  6  (a) ESO-xoz平面轨迹跟踪曲线 (b) Adp-xoz平面轨迹跟踪曲线

    Fig.  6  (a) ESO-xoz plane trajectory tracking curve (b) Adp-xoz plane trajectory tracking curve

    图  7  (a) ESO-飞行器位置跟踪误差 (b) Adp-飞行器位置跟踪误差

    Fig.  7  (a) ESO-quadrotor position tracking error (b) Adp-quadrotor position tracking error

    图  8  吊挂负载摆角

    Fig.  8  Swing angle of hanging load

    图  9  飞行器姿态角控制

    Fig.  9  Control of quadrotor attitude angle

    图  10  飞行器速度估计

    Fig.  10  Quadrotor speed estimation

    图  12  飞行器姿态角速度估计

    Fig.  12  Estimation of quadrotor attitude angular velocity

    图  11  吊挂角速度估计

    Fig.  11  Estimation of hanging angular velocity

    图  14  吊挂角估计误差

    Fig.  14  Hanging angle estimation error

    图  13  飞行器位置估计误差

    Fig.  13  Quadrotor position estimation error

    图  15  飞行器姿态角估计误差

    Fig.  15  Estimation error of quadrotor attitude angle

    图  17  吊挂角观测干扰

    Fig.  17  Interference of hanging angle observation

    图  16  飞行器位置观测干扰

    Fig.  16  Interference of quadrotor position observation

    图  18  飞行器姿态角观测干扰

    Fig.  18  Interference of quadrotor attitude angle observation

    表  1  模型参数

    Table  1  Model parameters

    参数大小
    $M$1.8 kg
    $l$0.2 m
    ${I_x}$0.03 kg·m2
    ${I_y}$0.03 kg·m2
    ${I_z}$0.04 kg·m2
    ${K_t}$8.8 N
    ${K_y}$0.4 N
    $m$0.2 kg
    $L$0.3 m
    下载: 导出CSV

    表  2  扩张观测器参数

    Table  2  Parameters of ESO

    参数$X,Y,Z$$\phi ,\theta ,\psi $$\alpha ,\beta $
    ${\kappa _1}$55100100
    ${\kappa _2}$55010001000
    ${\kappa _3}$55001000010000
    下载: 导出CSV
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  • 收稿日期:  2020-12-31
  • 录用日期:  2021-06-24
  • 网络出版日期:  2021-08-06

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