伞翼无人机线性自抗扰高度控制

针对伞翼无人机参数不确定性和复杂环境干扰敏感的问题,提出一种伞翼无人机线性自抗扰(Linear Active Disturbance Rejection Control,LADRC)高度控制方法。建立伞翼无人机8自由度飞行动力学模型,并引入风场和降雨模型以更加准确地模拟真实飞行环境。基于LADRC确定总体控制架构,设计线性扩张状态观测器对所有扰动进行估计,并引入误差反馈率在控制中实时补偿。使用该控制方法在多种扰动工况下进行伞翼无人机高度控制仿真实验。仿真结果表明,基于LADRC的高度控制方法能够有效克服内扰和外扰的影响,实现高精度高度控制;与传统PID控制效果相比,LADRC控制器具有更好的抗扰能力和鲁棒性。

Linear active disturbance rejection altitude control for a parawing UAV

In order to reduce the effects of parameter variations and complex environment disturbances on altitude control of parawing UAVs, an altitude control strategy based on linear active disturbance rejection control (LADRC) is studied. An eight degree of freedom model of a parawing UAV is built, and wind and rain models are introduced for accurate simulation of real flight environments. Based on the features of LADRC, the whole control structure is determined. As a result, the internal and external disturbances are estimated using linear extended state observer and real-time compensated by the feedback control law. Flight simulation experiments under various disturbance conditions are conducted. Simulation results show that LADRC based altitude controller not only accurately estimates and compensates the internal/external disturbances but also implements precise altitude control of the parawing UAV under conditions of dynamic parametric uncertainties, compared with standard PID controller, LADRC controller has better robustness and disturbance rejection ability.