基于自抗扰解耦模型的四旋翼姿态控制器设计

为了克服传统控制器控制四旋翼姿态效果差的问题，提出了基于自抗扰解耦模型的四旋翼姿态控制器设计。硬件结构通过通过 PCIE-PCI 转接卡和运动控制板卡连接计算机，借助运动控制板卡计算四旋翼电机控制量；选用MACH4运动控制板卡有效控制四旋翼姿态加速度；选择JQX-13F型号继电器，在电气输出电路中形成控制量阶跃性改变，借助小电流去操控大电流，有效控制四旋翼姿态角速度；使用MS-S3型号带数显伺服驱动器，可根据负载不同自动调节驱动器输出电流大小。以Cortex- M4内核结构为基础设计微控制器，有效控制四旋翼姿态角。分析四旋翼姿态控制器受力情况，构建自抗扰解耦模型，在滚转角、俯仰角和偏航角支持下，计算螺旋桨中心至机体坐标原点的距离、惯性力矩，借助Visual C++6.0设计控制流程。实验结果表明，以X轴为例，采用所设计控制器得到四旋翼加速度平均值为0.8m/s2、角速度平均值为6.08m/s、姿态角平均值为10.5°，与实际情况相符合，表明该控制器能够实现飞行姿态的稳定控制。

Four-rotor attitude controller design based on auto-disturbance rejection decoupling model

In order to overcome the problem of poor performance of the traditional controller in controlling the four-rotor attitude, a four-rotor attitude controller design based on the auto-disturbance decoupling model is proposed. The hardware structure is connected to the computer through the PCIE-PCI adapter card and the motion control board. The motion control board is used to calculate the control amount of the four-rotor motor; the MACH4 motion control board is used to effectively control the attitude and acceleration of the four-rotor; A step change in the control quantity is formed in the electrical output circuit, and the small current is used to control the large current to effectively control the four-rotor attitude angular velocity; the MS-S3 model with digital display servo driver can automatically adjust the output current of the driver according to the load. The microcontroller is designed based on the Cortex-M4 core structure to effectively control the attitude of the four-rotor. Analyze the force situation of the four-rotor attitude controller, build an auto disturbance rejection decoupling model, calculate the distance and the moment of inertia from the center of the propeller to the origin of the body coordinates with the support of roll angle, pitch angle and yaw angle, with the help of Visual C ++ 6.0 Design control flow. The experimental results show that taking the X-axis as an example, the average acceleration of the quadcopter is 0.8m/s2, the average angular velocity is 6.08m/s, and the average attitude angle is 10.5°, which is consistent with the actual situation. It shows that the controller can achieve stable control of flight attitude.