四旋翼飞行器姿态稳定系统改进自抗扰控制
Improved active disturbance rejection control for quadrotor attitude stabilization system
彭程 1边琦 2张甜 1王宝峰3
作者信息
- 1. 渭南师范学院物理与电气工程学院,陕西渭南 714099
- 2. 长安大学汽车学院,陕西西安 710018
- 3. 航空工业第一飞机设计研究院,陕西西安 710089
- 折叠
摘要
为了提高四旋翼飞行器的控制性能,提出一种改进的自抗扰控制技术,并应用于内环姿态稳定系统.首先,考虑到深度学习模型中激活函数的优良性能,利用sigmoid函数构建了一种结构简单、调参容易的跟踪微分器;其次,提出了一种fast-sigmoid跟踪微分器,解决传统sigmoid函数计算量较大的问题;最后,通过改进fal函数及增加速度状态量的反馈,提出了一种改进的扩展状态观测器(ESO),解决传统ESO高频抖动且收敛效率不高的问题,并进行了收敛性对比分析.仿真结果表明,所提出的改进自抗扰控制器在面对复杂干扰时具有更好的跟踪和抗干扰能力.
Abstract
An improved active disturbance rejection control(ADRC)technique is proposed to in-crease the control performance and apply to the inner-loop attitude stabilization system.Firstly,in-spired by the activation function properties of deep learning models,a tracking differentiator with simple structure and easy tuning of parameters is developed using the commonly used sigmoid func-tion.Secondly,a fast-sigmoid tracking differentiator is proposed owing to the fact that the conven-tional sigmoid function is computationally intensive.Finally,since the traditional extended state ob-server(ESO)has the problems of high-frequency jitter and inefficient observation convergence,an improved ESO architecture is proposed by improving the fal function and adding the feedback of ve-locity state,and the convergence judgement is performed.Simulation results show that the improved ADRC controller proposed has better tracking and anti-disturbance capability under the complex dis-turbances.
关键词
四旋翼飞行器/sigmoid函数/自抗扰控制/fal函数Key words
quadrotor/sigmoid function/active disturbance rejection control/fal function引用本文复制引用
基金项目
国家自然科学基金(62103061)
陕西省科技厅青年项目(2022JQ-695)
陕西省教育厅科研项目(22JK0378)
渭南师范学院人才项目(2021RC20)
出版年
2024
NETL
NSTL
万方数据