基于自抗扰控制的小型无人直升机高度控制的研究与应用

发布时间：2018-07-17 01:37

【摘要】：小型无人直升机在军事和民用领域均有广泛的应用前景,国防研究机构以及一些民间企业都将其作为非常重要的研究课题。本人所在的实验室长期从事该领域的研究,取得了一些成果。本文在实验室已有成果的基础上,进行进一步探索与研究。本文的重点是使用自抗扰控制的方法设计小型无人直升机垂向通道控制器。主要内容是:研究讨论了自抗扰控制方式的稳定性和参数对系统的影响,并设计出一套简单的参数整定方案;在小型无人直升机的垂向通道非线性模型应用自抗扰控制,设计出模型信息辅助方式,通过仿真验证其在各种环境下的性能表现;通过实验方式,将自抗扰控制应用到实际无人直升机上。本文的创新点在于:1、较为全面地总结了自抗扰控制参数变化所造成的各种影响,并提出一套简单的参数整定方式。推导了基于垂向通道线性模型的二阶自抗扰控制传递函数,在传递函数的基础上,讨论参数变化对系统闭环特性、扰动抑制能力以及噪声放大特性的影响;讨论采样率以及峰值问题对参数的限制问题;在这些讨论的基础上,提出一套工程性的简单的参数整定方案。2、将自抗扰控制应用在小型无人直升机垂向通道上,并且针对模型特征提出一种模型信息辅助方式,提高自抗扰控制性能。模型信息辅助方式利用了作用机理简单,测量方便的扰动信息,改造了扩张状态观测器的形式以及动态补偿方式,更好地利用了自抗扰控制器对未知扰动的补偿能力,在保持自抗扰参数的基础上,提高了系统性能。3、设计了若干方法,解决实际应用遇到的一些问题:用一阶最小二乘法粗略估计系统稳态增益参数b;设计一种控制切换方式,缓解峰值现象;设计小系数积分器与自抗扰控制结合的方式,解决电池电力下降使得总距输出能力下降,导致自抗扰控制达到限幅失去效用的问题。
[Abstract]:Small unmanned helicopter has a wide application prospect in both military and civilian fields, which is regarded as a very important research subject by national defense research institutions and some private enterprises. My laboratory has been engaged in this field for a long time and has made some achievements. In this paper, based on the results of the laboratory, further exploration and research are carried out. The emphasis of this paper is to design the vertical channel controller of small unmanned helicopter by using the method of ADRC. The main contents are as follows: the stability of ADRC and the influence of parameters on the system are discussed, and a set of simple parameter tuning scheme is designed, and the ADRC is applied to the vertical channel nonlinear model of small unmanned helicopter. The model information assistant mode is designed and its performance in various environments is verified by simulation, and the active disturbance rejection control is applied to the actual unmanned helicopter by experiment. The innovation of this paper lies in 1: 1. It summarizes all kinds of effects caused by the variation of ADRC parameters, and puts forward a simple way of parameter tuning. The second order ADRC transfer function based on the vertical channel linear model is derived. Based on the transfer function, the effects of parameter changes on the closed-loop characteristics, disturbance suppression ability and noise amplification characteristics of the system are discussed. On the basis of these discussions, a set of simple parameter tuning scheme. 2, which applies ADRC to the vertical passage of small unmanned helicopter, is discussed. A model information aided method is proposed to improve the performance of ADRC. The model information auxiliary mode makes use of the disturbance information which is simple and easy to measure, and the form of the extended state observer and the dynamic compensation method are modified, which makes better use of the compensation ability of the ADRC to the unknown disturbance. On the basis of maintaining the active disturbance rejection parameters, the performance of the system is improved. A number of methods are designed to solve some problems encountered in practical application: the first-order least square method is used to roughly estimate the steady-state gain parameter b of the system, and a control switching method is designed. In order to solve the problem that the total distance output ability is decreased due to the decrease of battery power, the problem of limiting the amplitude of ADRC is solved by designing the combination of small coefficient integrator and active disturbance rejection control.
【学位授予单位】：华南理工大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：V275.1;V249.1

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