基于ESO-LQG-PI的无人直升机悬停姿态角控制研究

为了提高无人直升机姿态角的控制精度,增强抗干扰能力,本文根据TREX 700L无人直升机机型,提出了一种ESO-LQG-PI的控制方法.考虑到直升机系统的高度非线性,采用了小扰动增量线性化处理方法.利用扩张状态观测器(ESO)对系统扰动进行实时估计并补偿,通过增加比例积分(PI)控制器来减小输入信号造成的稳态误差,使用...

Research on hover attitude angle control of unmanned helicopter based on ESO-LQG-PI

In order to improve the control accuracy of attitude angles and enhance the anti-interference ability of unmanned helicopter, a novel ESO-LQG-PI control method for TREX 700L helicopter is proposed in this paper. By considering the high non-linearity of the helicopter system, a class of small disturbance incremental linearization processing approach is adopted. Meanwhile, an extended state observer (ESO) is used to estimate and compensate the system disturbance in real time. The proportional integral (PI) controller is added to reduce the steady-state error caused by input signals, then linear quadratic Gaussian (LQG) controller is presented to obtain the optimal control gain. Summing up the advantages of PI and LQG, this paper proposes an ESO-LQG-PI control method. The experimental results show that the hovering attitude controller of unmanned helicopter improves the control precision of the control system, the error range of attitude angle is ±0.5°. It can realize the hovering control of the helicopter well, and has anti-interference ability.