基于自抗扰算法的四旋翼无人机抗风性能研究

发布时间：2018-05-26 14:11

本文选题：四旋翼无人机 + 自抗扰算法　；参考：《华北电力大学》2017年硕士论文

【摘要】：四旋翼无人机是一种能垂直起降、自主悬停和低速飞行的飞行器,相比固定翼飞行器具有机动性强的优势。抗风性能是体现四旋翼无人机控制系统稳定性的重要因素之一,但因四旋翼无人机机身动力学方程复杂,易受外界阵风和内部噪声干扰,因此对四旋翼无人机进行精确地建模十分困难。本文利用X450四旋翼无人机为研究平台,基于自抗扰算法对无人机进行了建模仿真并在阵风和持续风环境中对其进行了抗风性研究。本文首先对X450四旋翼无人机进行机身动力学建模,利用牛顿-欧拉方程和机体坐标系-惯性坐标系进行力学分析,分析四旋翼无人机在飞行过程中旋翼受空气作用力影响情况,在适当假设条件下对其合理线性化,得到机身动力学方程和无人机的姿态、位置运动方程。根据建立的四旋翼无人机动力学方程和运动方程,通过内环控制采取自抗扰算法,外环控制采取PID控制方法相结合分别设计姿态控制器和位置控制器。通过仿真结果表明,加入自抗扰控制器后可对系统内扰和外扰进行估算补偿,有效提高系统的鲁棒性。在不同的风力等级下,分析基于自抗扰控制器的四旋翼无人机姿态角度变化曲线,通过比较不同扰动下控制系统的超调量、调节时间和稳态误差,得出了基于自抗扰控制算法可以较好地提高系统抗风性的结论。最后,本文进行了四旋翼无人机的实际飞行试验。在实验测试中采用X450机型,分别在阵风和持续风环境中进行了试飞测试和数据采集,通过对采集数据的分析对比,验证了基于自抗扰算法的姿态控制器可有效提高四旋翼无人机抗风性能的结论。
[Abstract]:Four-rotor UAV is a kind of aircraft which can take off and land vertically, hovering independently and flying at low speed. It has strong maneuverability compared with fixed-wing UAV. The anti-wind performance is one of the important factors to reflect the stability of the four-rotor UAV control system. However, the fuselage dynamics equation of the four-rotor UAV is complex and vulnerable to external gusts and internal noise. Therefore, it is very difficult to model the four-rotor UAV accurately. In this paper, using the X450 four-rotor UAV as the research platform, the UAV is modeled and simulated based on the active disturbance rejection algorithm, and the anti-wind performance of the UAV is studied in the gusts and persistent wind environments. In this paper, the fuselage dynamics of X450 four-rotor UAV is first modeled, and the influence of air force on the rotor is analyzed by using Newton-Euler equation and airframe coordinate system. The airframe dynamics equation and the attitude and motion equations of the UAV are obtained by linearizing them reasonably under proper assumptions. According to the dynamic and motion equations of the four-rotor UAV, the attitude controller and the position controller are designed by using the internal loop control method and the outer loop control method, respectively, using the PID control method. The simulation results show that the internal disturbance and external disturbance can be estimated and compensated by adding the ADRC controller, and the robustness of the system can be improved effectively. Under different wind power levels, the attitude angle curve of four-rotor UAV based on ADRC is analyzed. The overshoot, adjusting time and steady-state error of the control system under different disturbances are compared. It is concluded that the adaptive disturbance rejection control algorithm can improve the wind resistance of the system. Finally, the actual flight test of four-rotor UAV is carried out in this paper. In the experiment, the X450 model was used to test the flight and the data acquisition in the gusts and sustained winds, and the data were analyzed and compared. The conclusion that the attitude controller based on active disturbance rejection algorithm can effectively improve the anti-wind performance of four-rotor UAV is verified.
【学位授予单位】：华北电力大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：V279;TP273

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