| 基于模糊LADRC的倾转四旋翼无人机纵向姿态控制 |
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| 引用本文： | 伍咏成,陈自力,苏立军,王宁.基于模糊LADRC的倾转四旋翼无人机纵向姿态控制[J].飞行力学,2020(3):28-33. |
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| 作者姓名： | 伍咏成 陈自力 苏立军 王宁 |
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| 作者单位： | 陆军工程大学石家庄校区无人机工程系;中国人民解放军32366部队 |
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| 基金项目： | 装备预研领域基金资助(6140311020105)。 |
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| 摘 要： | 针对倾转四旋翼无人机存在控制冗余和模型具有时变性及不确定性的问题,进行了纵向姿态控制系统建模和仿真研究。运用牛顿运动定律和刚体转动定律建立无人机六自由度运动模型,并采用试验测量及数值仿真的方法获取模型参数。采用设计控制分配系数的方法解决控制冗余的问题。设计了基于线性自抗扰控制(LADRC)方法的姿态控制器并采用模糊控制对其参数进行在线整定,提高了控制系统的响应速度和鲁棒性。搭建了Simulink仿真模型,通过无人机纵向飞行控制仿真试验,验证了所设计的控制分配系数的合理性以及姿态控制器的有效性。
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| 关 键 词： | 倾转四旋翼无人机 线性自抗扰控制 模糊控制 控制分配 |
Longitudinal attitude control of quad tilt-rotor UAV based on fuzzy LADRC |
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| WU Yongcheng,CHEN Zili,SU Lijun,WANG Ning.Longitudinal attitude control of quad tilt-rotor UAV based on fuzzy LADRC[J].Flight Dynamics,2020(3):28-33. |
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| Authors: | WU Yongcheng CHEN Zili SU Lijun WANG Ning |
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| Institution: | (Department of UAV Engineering,Shijiazhuang Campus of Army Engineering University,Shijiazhuang 050003,China;32366 Troops of the PLA,Beijing 100042,China) |
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| Abstract: | Aiming at the problem of control redundancy and time-varying and uncertain model of quad tilt-rotor UAV,this paper studied the modeling and simulation of longitudinal attitude control system.Newton’s law of motion and the law of rigid body rotation were used to establish the 6-DOF motion model of UAV,and the model parameters were obtained by test measurement and numerical simulation.The problem of control redundancy was solved by using the design control allocation coefficient.The attitude controller based on LADRC was designed and the parameters of the LADRC were adjusted online by fuzzy control,which improved the speed and robustness of the control system.Simulation model was built,and the simulation experiment of UAV longitudinal flight control was conducted to verify the rationality of the control allocation coefficient designed in this paper and the effectiveness of the attitude controller. |
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| Keywords: | quad tilt-rotor UAV LADRC fuzzy control control distribution |
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