摘要
针对小型多旋翼无人机在飞行时,存在风力扰动和电机振动等振源造成的机身振动,使得传感器噪声增大导致飞行不稳定,以及结构不确定和外扰大造成的调参复杂等问题,对传统自抗扰控制器进行优化。在传统频域滤波器基础上大幅降低角加速度中频噪声,补偿传感器及滤波器延时,快速跟踪大扰动。此外,引入tansig()误差反馈函数,对观测器的参数进行调整,使姿态控制器在大多数应用场景中仅需要调节一个参数,并能对期望角速度及角加速度进行限幅。仿真实验证明了此算法能大幅降低飞行器振动噪声的影响,补偿控制数据相位滞后。已在数十台不同尺寸和配置的多旋翼飞行器上经过验证,具有很强的适用性。
For small multi-rotor drones,there are vibrations caused by wind disturbances and motor vibrations during flight,which may increase the noise of sensors and lead to unstable flight.There is also the problem of complex adjustment of parameters due to uncertain structure and large external disturbances.To solve these problems,an improved Active Disturbance Rejection Control(ADRC) controller is proposed.The improved controller can greatly reduce the angular acceleration intermediate frequency noise based on the traditional frequency domain filter,compensate for the sensor and filter delay,and quickly track large disturbances.In addition,a tansig error feedback function is introduced to adjust the parameters of the observer.The improved controller only needs to adjust one parameter in most application scenarios by improving the traditional Extended State Observer(ESO),and can limit the expected angular velocity and angular acceleration.Simulation experiments prove that this algorithm can greatly reduce the impact of aircraft vibration and noise,and compensate for the phase lag of control data.The strong applicability of the algorithm has been verified through experiments on dozens of multi-rotor aircrafts of different sizes and configurations.
作者
朱文杰
徐胜
苏成悦
ZHU Wenjie;XU Sheng;SU Chengyue(Guangdong University of Technology,Guangzhou 510000,China)
出处
《电光与控制》
CSCD
北大核心
2021年第7期16-20,47,共6页
Electronics Optics & Control
基金
广东省科技计划(2017A020208063)
广州市科技项目(201804010384)。
关键词
多旋翼
单参数
姿态控制
自抗扰控制
扩张状态观测器
multi-rotor
single parameter
attitude control
active disturbance rejection control
extended state observer
