谈黎, 贾培发. 微小型自主直升机自抗扰控制[J]. 机器人, 2009, 31(5): 385-390.
引用本文: 谈黎, 贾培发. 微小型自主直升机自抗扰控制[J]. 机器人, 2009, 31(5): 385-390.
TAN Li, JIA Peifa. Active-disturbance-rejection Control of a Small Autonomous Helicopter[J]. ROBOT, 2009, 31(5): 385-390.
Citation: TAN Li, JIA Peifa. Active-disturbance-rejection Control of a Small Autonomous Helicopter[J]. ROBOT, 2009, 31(5): 385-390.

微小型自主直升机自抗扰控制

Active-disturbance-rejection Control of a Small Autonomous Helicopter

  • 摘要: 针对微小型直升机建模困难,而且内部和外部扰动都比较大的问题,提出一种基于自抗扰控制的飞行控制方法.按照飞行控制的要求改进了原算法的扩张状态观测器离散方程和非线性反馈函数.起飞、悬停和强风中飞行控制仿真验证了改进的自抗扰控制方法的有效性.

     

    Abstract: To solve the problems that it is difficult to model a small helicopter and its internal and external disturbances are large,a flight control scheme is proposed based on active-disturbance-rejection control(ADRC)technique.For the original algorithm,the discrete equation of extended state observer and the nonlinear feedback function are modified to meet the requirements of flight control.Simulation results of taking off,hovering and flying in strong wind validate the efficiency of the modified ADRC algorithm.

     

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