| 基于自抗扰控制技术的无人直升机位置控制律设计 |
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| 引用本文： | 王刚强,;李玉川,;曾国贵. 基于自抗扰控制技术的无人直升机位置控制律设计[J]. 直升机技术, 2014, 0(2): 36-40 |
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| 作者姓名： | 王刚强, 李玉川, 曾国贵 |
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| 作者单位： | [1]中航工业直升机设计研究所,江西景德镇333001; [2]陆航驻景德镇地区代表室,江西景德镇333001 |
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| 摘 要： | 针对无人直升机抗风性能不足的问题，将自抗扰控制方法应用于无人直升机位置控制律，该位置控制律在常规内外回路控制架构的基础上，外回路采用非线性反馈，利用扩张状态观测器（ESO）进行动态扰动补偿。此文详细阐述了设计方法和工程应用问题。半物理仿真结果表明，该控制方案具有较强的抗扰动性，位置控制精度得到显著提升。
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| 关 键 词： | 无人直升机 自抗扰 位置控制 |
Position Control Laws Design of UAH Based on ADRC |
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| Affiliation: | WANG Gangqiang,LI Yuchuang,ZENG Guogui( 1. China Helicopter Research and Development Institute, Jingdezhen 333001, China;2. Army Aviation Military Representative Office in Jingdezhen Region, Jingdezhen 333001, China) |
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| Abstract: | Aiming at the lack of wind resistance, the auto-disturbances-rejection controller （AD- RC） was proposed to design position control law for UAH, in which nonlinear PID was used in outer loop and extended state observer（ESO） was used to compensate the disturbance dynamically. The position control law is based on internal and external loop control structure. This paper described the design method and analyzed the potential problems of application in detail. The simulation results showed that ADRC control law has higher anti-disturbance performance and higher position control accuracy. |
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| Keywords: | UAH ADRC position control |
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