横列式双旋翼矢量飞行器的改进ADRC姿态控制算法

doi:10.12305/j.issn.1001-506X.2021.10.33

Abstract

Abstract:

The tilting dual-fan vector Unmanned aerial vehicle has the advantages of long flight time, small wind resistance and strong maneuverability, but its mechanical structure is complex, the coupling between the states is serious, and the anti-interference ability is weak. According to its control characteristics, an anti-interference decoupling control algorithm based on improved active disturbance rejection control (ADRC) is proposed, extended state observer (ESO) is used to track and estimate the attitude disturbance and the coupling term between states.The nonlinear multiple input multiple output (MIMO) system was transformed into linear single input single output (SISO) system. An improved particle swarm optimization (PSO) algorithm is used to optimize the parameters of the attitude control system, the simulation results showed that the algorithm has good ability of resisting external disturbance and coupling disturbance, the actual flight control system is designed and the hovering test of the aircraft is carried out, the stable hovering of the aircraft is realized.

Key words: dual-fan, tilting, active disturbance rejection controller (ADRC), dynamic feedback linearization, interference estimation

CLC Number:

V249

Liben YANG, Wenjun WEI, Jianfeng YANG, Taiguo LI, Dong WANG. Improved ADRC attitude control algorithm for tilting dual-fan vector aircraft[J]. Systems Engineering and Electronics, 2021, 43(10): 2976-2983.

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References 32

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算法	粒子个数
算法	20	30	40	50
传统PSO	64.929 4	128.994 2	193.406 1	258.073 9
本文算法	65.047 1	129.900 9	193.853 0	258.696 2

Improved ADRC attitude control algorithm for tilting dual-fan vector aircraft

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