基于改进ESO的四旋翼姿态自抗扰控制器设计

doi:10.12305/j.issn.1001-506X.2022.12.24

Abstract

Abstract:

For the attitude active disturbance rejection control (ADRC) system of quadrotor unmanned aerial vehicle (UAV), when the feedback signal of attitude angle measurement is polluted by sensor noise, the extended state observer (ESO) of the traditional nonlinear nonsmoothed fal function is not accurate enough. Based on this problem, a new nonlinear smooth galn function is constructed to redesign ESO, and the performance is verified by Matlab/Simulink simulation software. The simulation results show that compared with the traditional fal function, the galn function constructed is smooth and has better convergence, and can better reflect the engineering idea of "large error and small gain". The improved ESO based on galn function has stronger error following capability. The quadrotor attitude ADRC system designed by improved ESO has better tracking and anti-jamming capability.

Key words: quadrotor unmanned aerial vehicle (UAV), extended state observer (ESO), active disturbance rejection controll (ADRC), galn function

CLC Number:

TP273

Wenqi YANG, Jianhua LU, Xu JIANG, Yuanxin WANG. Design of quadrotor attitude active disturbance rejection controller based on improved ESO[J]. Systems Engineering and Electronics, 2022, 44(12): 3792-3799.

Figures/Tables 14

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符号	物理含义	数值
m/kg	机体质量	1.4
d/m	旋翼质心到中心距离	0.225
g/(m·s^-1)	重力加速度	9.8
k_T/(N·s^-2)	升力系数	1.105e-05
k_M/(N·m·s^-2)	反扭力矩系数	1.779e-07
I_x/(kg·m²)	x轴转动惯量	0.021 1
I_y/(kg·m²)	y轴转动惯量	0.021 9
I_z/(kg·m²)	z轴转动惯量	0.036 6
J_T/(kg·m²)	旋翼转动惯量	1.287e-04

控制器模块	参数符号	俯仰通道
TD	r₀	20
TD	h₀	0.004
ESO	β₁	250
	β₂	2 000
	β₃	3 000
	σ₁	0.5
	σ₂	0.25
NLSEF	h₁	5
	b	47.4
	r₁	200
	c	5

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Design of quadrotor attitude active disturbance rejection controller based on improved ESO

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