六旋翼飞行器模型参考滑模控制方法研究
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摘要
针对六旋翼飞行器的控制复杂性和强耦合性问题,提出一种基于模型参考和滑模相结合的姿态与轨迹控制策略。在建立六旋翼飞行器简化动力学和运动学模型的基础上,利用线性二次型调节方法,给出具有良好性能的参考模型,并依据伪逆理论和状态误差设计积分滑模面。随后,设计在干扰存在状态下的姿态控制器和轨迹跟踪控制器,并利用李雅普诺夫稳定性理论分析了闭环系统的稳定性。仿真结果表明,所设计的控制器性能优于一般的PID控制,具备一定的鲁棒性,能够较好的实现姿态和轨迹控制。
To deal with the controlling complexity and strong state coupling for six rotorcraft, a attitude and trajectory control strategy based on model reference and sliding mode is proposed. First, on the basis of establishing a simplified kinetic and kinematic model of the six rotorcraft, a reference model with good performance is constructed by linear quadratic regulator(LQR) method, and the integral sliding mode is designed according to the pseudo inverse theory and the state error. Then, the attitude controller and trajectory tracking controller are designed in the presence of interference, and the Lyapunov stability theory is used to analyze and guarantee the stability of the closed-loop system. The simulation results show that the designed control system is superior to the general PID controller, which can achieve the attitude and trajectory control with a satisfied control performance.
To deal with the controlling complexity and strong state coupling for six rotorcraft, a attitude and trajectory control strategy based on model reference and sliding mode is proposed. First, on the basis of establishing a simplified kinetic and kinematic model of the six rotorcraft, a reference model with good performance is constructed by linear quadratic regulator(LQR) method, and the integral sliding mode is designed according to the pseudo inverse theory and the state error. Then, the attitude controller and trajectory tracking controller are designed in the presence of interference, and the Lyapunov stability theory is used to analyze and guarantee the stability of the closed-loop system. The simulation results show that the designed control system is superior to the general PID controller, which can achieve the attitude and trajectory control with a satisfied control performance.
引文
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[14]王锐,刘金琨.基于高增益观测器的四旋翼无人机轨迹跟踪控制[J].飞行力学,2017,35(1):39-42.Wang R,Liu J K.Trajectory Tracking Control of Quadrotor UAVBased on High-gain Observer[J].FLIGHT DYNAMICS,2017,35(1):39-42.
[15]刘一莎,杨晟萱,王伟.四旋翼飞行器的自抗扰飞行控制方法[J].控制理论与应用,2015,32(10):1351-1360.Liu Y S,Yang S X,WANG W.An Active Disturbance-rejection Flight Control Method for Quad-rotor Unmanned Aerial Vehicles[J].Control Theory&Applications,2015,32(10):1351-1360.
[2]甄红涛,齐晓慧,夏明旗,等.四旋翼无人直升机飞行控制技术综述[J].飞行力学,2012,30(4):295-299.Zhen H T,Qi X H,Xia M Q,et al.Survey of Flight Control Technology for Quad-rotor Unmanned Helicopter[J].FLIGHTDYNAMICS,2012,30(4):295-299.
[3]花寅.六旋翼无人直升机控制技术研究[D].南京理工大学,2013.Hua Y.Research on Control Technology of a Six-Rotor Unmanned Helicopter[D].Nanjing University of Science&Technology,2013.
[4]Yang C,Yang Z,Huang X,et al.Modeling and Robust Trajectory Tracking Control for a Novel Six-Rotor Unmanned Aerial Vehicle[J].Mathematical Problems in Engineering,2013,2013(1):389-405.
[5]赵伦.基于Pixhawk飞控板的六旋翼飞行器自适应动态逆控制技术研究[D].北方工业大学,2016.Zhao L.Study on Adaptive Dynamic Inversion Control of Hexacopter Based on Pixhawk[D].NORTH China University of Technology,2016.
[6]甄红涛,齐晓慧,李杰,等.四旋翼无人机L1自适应块控反步姿态控制器设计[J].控制与决策,2014,29(06):1076-1082.Zhen H T,Qi X H,Li J,et al.Quadrotor UAV L1 Adaptive Block Backstepping Attitude Controller[J].Control and Decision,2014,29(06):1076-1082.
[7]陈增强,王辰璐,李毅,等.基于积分滑模的四旋翼飞行器控制系统设计[J].系统仿真学报,2015,27(9):2181-2186.Chen Z Q,Wang C L,Li Y,et al.Control System Design Based on Integral Sliding Mode of Quadrotor[J].Journal of System Simulation,2015,27(9):2181-2186.
[8]Pounds P,Mahony R,Corke P.Modelling and Control of a Large Quadrotor Robot[J].Control Engineering Practice,2010,18(7):691-699.
[9]Rhif A.Sliding Mode Control,Theory&Applications[M].Lap Lambert Academic Publishing,2012.
[10]段国强,张岳军,李衍杰,等.四旋翼无人直升机控制算法仿真比较研究[J].计算机仿真,2014,31(4):78-82.Duan G Q,Zhang Y J,Li Y J,et al.Comparative Study on Simulation of Four-rotor Unmanned Helicopter Control Algorithm[J].Computer Simulation,2014,31(4):78-82.
[11]哈利姆·阿尔维,克里斯托弗·爱德华,陈品谭.基于滑模理论的故障检测与容错控制[M].北京:国防工业出版社,2014.Halim Alwi,Christopher Edwards,Chen P T.Fault Detection and Fault-Tolerant Control Using Sliding Modes[M].Beijing:National Defense Industry Press,2014.
[12]高强,刘俊杰,刘文杰.四旋翼飞行器姿态的自抗扰控制研究[J].计算机仿真,2016,33(12):38-41.Gao Q,Liu J J,Liu W J.Attitude Regulation of Quadrotor UAV Via ADRC Methodology[J].Computer Simulation,2014,31(4):78-82.
[13]李瑞琪,王洪福,李瑞雪,等.基于模型参考自适应的四旋翼飞行器控制[J].计算机测量与控制,2013,21(12):3260-3263.Li R Q,Wang H F,Li R X,et al.Controlling Quadrotor Vehicles Based on Model Reference Adaptation Control[J].Computer Measurement&Control,2013,21(12):3260-3263.
[14]王锐,刘金琨.基于高增益观测器的四旋翼无人机轨迹跟踪控制[J].飞行力学,2017,35(1):39-42.Wang R,Liu J K.Trajectory Tracking Control of Quadrotor UAVBased on High-gain Observer[J].FLIGHT DYNAMICS,2017,35(1):39-42.
[15]刘一莎,杨晟萱,王伟.四旋翼飞行器的自抗扰飞行控制方法[J].控制理论与应用,2015,32(10):1351-1360.Liu Y S,Yang S X,WANG W.An Active Disturbance-rejection Flight Control Method for Quad-rotor Unmanned Aerial Vehicles[J].Control Theory&Applications,2015,32(10):1351-1360.