串级自抗扰控制器在纵列式双旋翼直升机飞行姿态控制中的应用

本文将自抗扰控制应用于直升机飞行姿态控制中,针对纵列式双旋翼直升机的飞行姿态控制问题,设计串级自抗扰控制器,并进行了参数整定,得到了优良的仿真结果.进而在实际装置上,调试出了令人满意的飞行姿态实时控制结果.对比于线性二次型调节器(linear quadratic regulator,LQR)控制算法,文中所设计的串级自抗扰控制器显然具有更加精准的控制精度,能更加满足快速性的要求,并且更具有鲁棒性、抗干扰性能以及对非线性强耦合系统的解耦能力.

Attitude control of tandem rotor helicopter based on cascade active disturbance rejection control

Active disturbance rejection control (ADRC) technique is applied to control the attitudes of a kind of heli-copter. In order to guarantee the attitudes of a tandem rotor helicopter as we desired, a series of cascade ADRC controllersare designed. After adjusting the parameters, we obtain the numerical simulation results based on ADRC strategy whichshows a better performance than linear quadratic regulator (LQR) method. Furthermore, real-time control experiments arecarried out. Satisfactory experimental results indicate that the cascade ADRC is better than LQR scheme not only in meet-ing the control accuracy requirement but also in achieving rapid and effective response for the nonlinear coupled systems.In addition, the ADRC controller has strong robustness and insensitivity to perturbations.