基于反步滑模算法的无人机姿态鲁棒控制系统设计

针对传统无人机姿态鲁棒控制系统易受到外部干扰影响,无法精准控制姿态角、左侧舵面角和右侧舵面角,导致系统不稳定的问题,设计了基于反步滑模算法的无人机姿态鲁棒控制系统;使用TMS320F28335芯片的串级PID控制器,控制无人机中央处理机;选择MS-S3型伺服驱动器保证电机高速运动时的高转矩运行;使用STM32f407VGT6型号姿态控制器,控制旋翼姿态;在软件流程设计过程中,构建无人机动力学模型,引入反步滑模算法构建考虑姿态角动态方程,选择Lyapunov函数计算误差变量,设计滑模控制律,借助Visual C++6.0实现软件程序编写,完成无人机姿态鲁棒控制系统设计;由实验结果可知,在时间为5 s时,该系统姿态角达到6°、左侧舵面达到0.40°、右侧舵面角达到0.20°,与实际控制结果一致,具有精准控制效果。

Design of UAV attitude robust control system based on backstepping sliding mode algorithm

Aiming at the problem that the traditional UAV attitude robust control system is susceptible to external interference and cannot precisely control the attitude angle, the left rudder surface angle and the right rudder surface angle, resulting in system instability, a back-step sliding mode algorithm is designed. Robust control system for UAV attitude. Use the cascade PID controller of the TMS320F28335 chip to control the UAV central processing unit. Choose the MS-S3 servo driver to weaken the impact generated by the main circuit startup and obtain DC power. Use STM32f407VGT6 attitude controller to control the rotor attitude. Construct the UAV dynamic model, design the anti-step sliding mode control steps, and realize the robust control of the UAV attitude with the help of Visual c++ 6.0. It can be seen from the experimental results that the system''s attitude angle, left rudder surface angle and right rudder surface angle are consistent with the actual control results and have precise control effects.