基于串级LADRC设计的旋翼无人机航迹跟踪控制

针对复杂环境下,四旋翼无人机航迹跟踪精度易受风扰的影响,设计了串级线性自抗扰控制(linear active disturbance rejection control,LADRC)双回路控制系统。外环为位置回路,针对风扰采用3阶LADRC设计;内环为姿态回路,针对执行机构的动态特性,采用4阶LADRC设计。仿真对比串级LADRC和串级PID两种控制方法,结果表明,两种方法虽然都实现了四旋翼无人机航迹跟踪控制,但是在各种复杂风场扰动、内扰作用的情况下,串级LADRC能够克服复杂扰动的影响,精度更高、抗扰性更好、鲁棒性更强,且待整定参数不多,十分符合工程实际的需求。

Trajectory tracking control of unmanned aerial vehicles based oncascaded LADRC design

The cascaded based on control system linear active disturbance rejection control (LADRC) is designed to attenuate the influence of wind disturbance on the path tracking accuracy of quadrotor unmanned aerial vehicle (UAV) under complicated environment. The outer loop of the control system adopts the 3rd order LADRC design for position control under wind disturbance. The inner loop adopts the 4th order LADRC design for the attitude control taking into account the dynamic characteristics of actuators. Then cascaded LADRC and the cascaded PID control schemes are compared by simulation. The results show that they are different in disturbance rejection effects although both control schemes are able to realize the position and attitude control of the quadrotor UAV. The LADRC one is more immune to disturbances, with a high acouracy, better disturbance rejection properties and high robustness and there are not so many parameters to be turned. Hence, it conforms to the actual needs of the project.