四旋翼无人机系统PD-ADRC串级控制

针对四旋翼无人机飞行系统欠驱动、非线性、多变量、强耦合等控制难点,设计了串级控制系统。在该控制系统中,外环位置回路采用了经典的比例-微分控制方法,内环姿态回路分别采用线性自抗扰控制和非线性自抗扰控制两种控制方法进行设计。通过仿真对两种控制方法进行了比较,仿真结果表明,两种控制方法虽然都实现了四旋翼无人机位置控制和姿态角控制,但是线性自抗扰控制更加符合工程实际的需求,对四旋翼无人机而言线性自抗扰控制是一种更有效的控制方法。

PD-ADRC cascade control for quadrotor system

In order to solve some difficult control problems like underactuated, nonlinearity, multivariate and strong coupling in quadrotor system, a cascade control system is designed. In this control system, the classical proportion differential control method is applied in the position control loop, and linear active disturbance rejection control and nonlinear active disturbance rejection control are used in the attitude control loop separately. The two methods are compared by simulation and the simulation results show that although both methods can implement the position control and the attitude control, the linear active disturbance rejection control is better in line with the actual requirement of the engineering and more effective in quadrotor flight control.