重心变化四旋翼的建模与自抗扰控制
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- 英文论文题名：Modeling and Active Disturbance Rejection Control of Quadrotor with Variations of Center of Gravity
- 论文作者：樊晓平 ; 李斌
- 英文论文作者：FAN Xiao-Ping ; LI Bin ; School of Information Science and Engineering ; Central South University ; School of Information Technology and Management ; Hunan University of Finance and Economics
- 年：2017
- 作者机构：中南大学信息科学与工程学院;湖南财政经济学院信息技术与管理学院;
- 论文关键词：四旋翼 ; 重心 ; 建模 ; 自抗扰控制
- 英文论文关键词：Quadrotor ; CoG ; Modeling ; ADRC
- 会议召开时间：2017-07-26
- 会议录名称：第36届中国控制会议论文集（A）
- 英文会议录名称：Proceedings of the 36th Chinese Control Conference（A）
- 语种：中文
- 分类号：V249;V275.1
- 学会代码：KZLL
- 会议名称：第36届中国控制会议
- 会议地点：中国辽宁大连
- 主办单位：中国自动化学会控制理论专业委员会
- 学会名称：中国自动化学会控制理论专业委员会
- 页数：6
- 文件大小：1336k
- 原文格式：D
- 会议级别：全国
摘要
针对四旋翼应用中重心变化和飞行器参数不确定的问题,本文提出了一种重心变化四旋翼的建模方法,建模采用了理想机体加负载的方式来等效重心变化四旋翼,方便了建模,也使得模型更加准确。结合模型提出一种基于自抗扰控制器的姿态控制算法,相比于传统PID控制在重心变化的情况下具有超调小、调节时间短、鲁棒性强的优点。在Matlab/Simulink上进行了模拟仿真,验证了算法的有效性。
In order to solve the problem of variable center of gravity and uncertain parameters in quadrotor applications, this paper presents a modeling method for unbalanced quadrotor, this model adopted an ideal body with loading added method to simulate an unbalanced quadrotor, which is easier to modeling and more precise than other modeling methods. Combine with this model we proposed an ADRC attitude control algorithm, which has the advantage of smaller overshoot, shorter accommodation time and more robust than conventional PID method. The simulations are carried out on Matlab/Simulink to verify the effectiveness of the algorithm.
In order to solve the problem of variable center of gravity and uncertain parameters in quadrotor applications, this paper presents a modeling method for unbalanced quadrotor, this model adopted an ideal body with loading added method to simulate an unbalanced quadrotor, which is easier to modeling and more precise than other modeling methods. Combine with this model we proposed an ADRC attitude control algorithm, which has the advantage of smaller overshoot, shorter accommodation time and more robust than conventional PID method. The simulations are carried out on Matlab/Simulink to verify the effectiveness of the algorithm.
引文
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[15]Li Y,Chen Z,Sun M,et al.ADRC Based Attitude Control of a Quad-rotor Robot[M]//Proceedings of the 2015 Chinese Intelligent Automation Conference.Springer Berlin Heidelberg,2015:503-512.
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[18]窦景欣,孔祥希,闻邦椿,等.四旋翼姿态的反步滑模自抗扰控制及稳定性[J].东北大学学报(自然科学版),2016,37(10):1415-1420.
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[2]Bouabdallah S.,R.Siegwart.Backstepping and sliding-mode techniques applied to an indoor micro quad rotor[J].IEEE International Conference on Robotics and Automation,Barcelona,Spain,2005:2247-2252.
[3]Aksal A,Arikan K B,Aliew F.Robust Fuzzy-PID Control of an Unbalanced Quadrotor[J].
[4]Palunko I,Fierro R.Adaptive control of a quadrotor with dynamic changes in the center of gravity[J].IFAC Proceedings Volumes,2011,44(1):2626-2631.
[5]Lotfi B,Goharimanesh M,Huang L.Modelling and control of quadrotor maneuvers with variations of center of gravity(COG)[C]//2015 IEEE International Conference on Advanced Intelligent Mechatronics(AIM).IEEE,2015:1570-1574.
[6]Panomrattanarug B,Higuchi K,Mora-Camino F.Attitude control of a quadrotor aircraft using LQR state feedback controller with full order state observer[C]//SICE Annual Conference(SICE),2013 Proceedings of.IEEE,2013:2041-2046.
[7]Runcharoon,K.and Srichatrapimuk,V.Sliding Mode Control of Quadrotor[C]//Proceedings of the 2013International Conference on Technological Advances in Electrical,Electronics and Computer Engineering(TAEECE),Konya,9-11 May 2013,552-557.
[8]Zeghlache,S.,Saigaa,D.,Kara,K.,Harrag,A.and Bouguerra,A.Backstepping Sliding Mode Controller Improved with Fuzzy Logic:Application to the Quadrotor Helicopter.Archives of Control Sciences,2012,22,315-342.
[9]Duong V T,Kim H K,Tan T N,et al.Position Control of a Small Scale Quadrotor Using Block Feedback Linearization Control[M]//AETA 2013:Recent Advances in Electrical Engineering and Related Sciences.Springer Berlin Heidelberg,2014:525-534.
[10]Das A,Subbarao K,Lewis F.Dynamic inversion with zero-dynamics stabilisation for quadrotor control[J].IET Control Theory&Applications,2009,3(3):303-314.
[11]Santos,M.,Lopez,V.and Morata,F.(2010)Intelligent Fuzzy Controller of a Quadrotor.Proceedings of the 2010International Conference on Intelligent Systems and Knowledge Engineering(ISKE),Hangzhou,15-16November 2010,141-146.
[12]Dierks T,Jagannathan S.Output feedback control of a quadrotor UAV using neural networks[J].IEEE transactions on neural networks,2010,21(1):50-66.
[13]韩京清.从PID技术到“自抗扰控制”技术[J].控制工程,2002,9(3):13-18.
[14]Wang C,Chen Z,Sun Q,et al.Design of PID and ADRC based quadrotor helicopter control system[C]//Chinese Control and Decision Conference.2016.
[15]Li Y,Chen Z,Sun M,et al.ADRC Based Attitude Control of a Quad-rotor Robot[M]//Proceedings of the 2015 Chinese Intelligent Automation Conference.Springer Berlin Heidelberg,2015:503-512.
[16]Cheng P,Tian Y,Yue B,et al.ADRC trajectory tracking control based on PSO algorithm for a quad-rotor[J].2013:800-805.
[17]代志纲,岳巍澎,隋晓雨,等.自抗扰控制技术的原理剖析[J].新型工业化,2015(1):49-58.
[18]窦景欣,孔祥希,闻邦椿,等.四旋翼姿态的反步滑模自抗扰控制及稳定性[J].东北大学学报(自然科学版),2016,37(10):1415-1420.
[19]Fossen T I.Guidance and control of ocean vehicles[M].John Wiley&Sons Inc,1994.
[20]Bouabdallah S,Murrieri P,Siegwart R.Design and Control of an Indoor Micro Quadrotor[C]//IEEE International Conference on Robotics&Automation.2004:4393-4398Vol.5.
[21]黄继红.惯量张量的“平行轴定理”[J].河西学院学报,1993,(2):37-38.
[22]杨立本,章卫国,黄得刚,等.基于ADRC姿态解耦的四旋翼飞行器鲁棒轨迹跟踪[J].北京航空航天大学学报,2015,41(6):1026-1033.