基于自抗扰技术的四旋翼姿态解耦控制方法

摘要

An active disturbance rejection attitude controller was designed to control its attitude based on the nonlinear and coupled model of small quadrotor aircraft. The active disturbances rejection attitude control technique was introduced, and the structure of the active disturbance rejection controller was described, including the arranging transitional process, extended state observer and nonlinear law state error feedback. Simulation was carried out based on Simulink. The parameter tuning and simulation results indicate that the designed controller has strong robustness and anti-disturbance performance, and the system has good dynamic performance and steady state performance, which can control the nonlinear and coupled system effectively.%针对小型四旋翼飞行器姿态控制问题,基于姿态非线性耦合数学模型,设计了一种自抗扰姿态控制器.引入自抗扰控制技术,介绍了自抗扰控制器结构,包括安排过渡过程,扩张状态观测器以及非线性状态误差反馈.针对模型非线性耦合特点,介绍了多变量系统的自抗扰解耦控制原理,并设计了一种自抗扰姿态解耦控制器.基于Simulink搭建仿真模型进行了仿真.参数整定及仿真结果表明,所设计自抗扰控制器具有强鲁棒性、抗干扰性,系统具有良好的动态性能和稳态性能,对非线性耦合系统能有效地控制.