基于PD-ADRC的四旋翼控制器设计

针对四旋翼无人机强耦合、非线性的控制难点，研究设计了一种基于自抗扰控制和比例微分控制的双闭环控制器。首先，分析了小型四旋翼飞行器动力学模型，确定四旋翼无人机的六自由度方程。然后，利用自抗扰控制技术对强耦合、非线性的姿态模型进行了解耦，设计扩张状态观测器对其总扰动进行观测与补偿。其次，设计比例微分控制器对解耦后的系统进行位置跟踪，从而与姿态控制器组成双闭环系统。最后，通过仿真及试飞实验测试系统性能。仿真和试飞结果表明该系统能够完成对控制指令的实时跟踪，并且对干扰具有极强的抑制力。

Design of Quadrotor Controller Based on PD-ADRC

Unmanned quadrotor is difficult to control due to its strong coupling and nonlinear dynamics.Accordingly,a double closed-loop controller based on active disturbance rejection control(ADRC) and proportional derivative(PD) control is proposed.Firstly,a 6-DOF equation of quadrotor is established by analyzing dynamic model of the small quadrotor.Then,the ADRC technology is used to decouple the strong coupling and nonlinear attitude model.An extended state observer(ESO) is also designed to measure and compensate the total disturbance.Furthermore,a PD controller is designed to achieve the position tracking of the decoupled system.Thus,a double closed-loop controller is generated.Finally,simulation and field test are implemented to verify the system performance.The results of simulation and fly test demonstrate that this system can finish the real time tracking of the control command,and has strong ablility to reject the disturbance.