PID/ADRC控制器在四旋翼无人飞行控制中的应用

讨论了四旋翼无人飞行器的飞行控制问题,根据四旋翼飞行器的机理建立了运动模型和电机模型,并设计了控制系统.针对建模的不准确性,该控制系统内环回路采用自抗扰控制(ADRC)方法,外环回路采用经典PID控制方法.最后对控制系统在Matlab/Simulink平台上进行仿真,从仿真结果来看,ADRC控制能较好地对系统内扰以及外扰进行估计补偿,减轻了建模工作的负担,并且该控制系统可使四旋翼无人飞行器实现小角度姿态、位置控制、到达指定位置,表明该控制方案是有效的.

Combined PID /ADRC flight control for a quadrotor unmanned helicopter

This paper discusses the problems of flight control of quadrotor. Besides,based on the physical mechanism of quadrotor,the movement model and the dynamo model are built. Eventually,in view of the modeling inaccuracy,the active disturbance rejection control method is used in the inner loop,and the classical PID control approach is applied in the outer loop. Finally,the control system is simulated on Matlab / Simulink platform with the result that the control plan is effective,which reduces the modeling workload. It is illustrated that the quadrotor unmanned aerial vehicle is able to reach the destination,achieving the small attitude and position control.