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将自抗扰控制应用于无人机飞行控制系统。论述自抗扰控制的方法原理,并运用该技术设计控制律。首先利用跟踪微分器安排过渡过程,以达到快速、准确跟踪给定信号的目的。然后通过扩张状态观测器实时估计出系统的不确定干扰,并以反馈量的形式引入控制输入,从而起到实时补偿系统扰动的作用,实现姿态稳定控制。数值仿真结果表明,该方法抗干扰能力强,具有控制品质好、精度高、算法简单等特点。
Application of ADRC in UAV flight control system. Discusses the method principle of ADRC and designs the control law by using this technique. First, the use of tracking differentiator transition process, in order to achieve rapid and accurate tracking of a given signal. Then, the uncertain observer system is estimated in real time through the extended state observer and introduced into the control input in the form of feedback amount, which can compensate the system disturbance in real time and realize the attitude stability control. Numerical simulation results show that this method has strong anti-interference ability, good control quality, high precision and simple algorithm.