基于ADRC的无人机纵向通道控制

根据自抗扰控制器不依赖对象的精确数学模型以及能够对系统模型内扰和外界干扰进行补偿的特点,提出了在无人机纵向通道中引入自抗扰控制器的方法。设计的自抗控制器在不同的飞行状态下,不需要改变控制器参数,就能实现对俯仰指令的精确跟踪控制,以及速度回路与俯仰角回路的解耦控制。仿真结果表明,系统具有良好的动态响应和鲁棒性。

The UAV Longitudinal Channel Control Based on ADRC

The paper mainly introduces the characters of active-disturbance rejection controller(ADRC).The ADRC doesn't rely on the accurate math mode of controlled object and it can compensate the system's inner and outer disturbances.According to the characters of ADRC,the paper provides a new method in UAV's longitudinal channel control.The closed loop system can make the pitching angle accurately tracked and controlled without changing its controller's parameters in different flight states.The ADRC also realizes the velocity loop and the pitching angle loop's decoupling control.The result of the simulation shows that the system is good in dynamic response and robustness.