| 引用本文: | 陈增强,李毅,袁著祉,孙明玮,刘忠信,孙青林.串级自抗扰控制器在纵列式双旋翼直升机飞行姿态控制中的应用[J].控制理论与应用,2015,32(9):1219~1225.[点击复制] |
| CHEN Zeng-qiang,LI Yi,YUAN Zhu-zhi,SUN Ming-wei,LIU Zhong-xin,SUN Qing-lin.Attitude control of tandem rotor helicopter based on cascade active disturbance rejection control[J].Control Theory and Technology,2015,32(9):1219~1225.[点击复制] |
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| 串级自抗扰控制器在纵列式双旋翼直升机飞行姿态控制中的应用 |
| Attitude control of tandem rotor helicopter based on cascade active disturbance rejection control |
| 摘要点击 2947 全文点击 1347 投稿时间：2015-03-27 修订日期：2015-06-29 |
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| DOI编号 10.7641/CTA.2015.50239 |
| 2015,32(9):1219-1225 |
| 中文关键词 自抗扰控制器 串级控制 扩张状态观测器 纵列式直升机 姿态控制 |
| 英文关键词 active disturbance rejection control (ADRC) cascade control extended state observer tandem rotor heli- copter attitude control |
| 基金项目 国家自然科学基金项目(61174094, 61273138), 天津市自然科学基金项目(14JCYBJC18700, 13JCYBJC17400)资助. |
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| 中文摘要 |
| 本文将自抗扰控制应用于直升机飞行姿态控制中, 针对纵列式双旋翼直升机的飞行姿态控制问题, 设计串级自抗扰控制器, 并进行了参数整定, 得到了优良的仿真结果. 进而在实际装置上, 调试出了令人满意的飞行姿态实
时控制结果. 对比于线性二次型调节器(linear quadratic regulator, LQR)控制算法, 文中所设计的串级自抗扰控制器显然具有更加精准的控制精度, 能更加满足快速性的要求, 并且更具有鲁棒性、抗干扰性能以及对非线性强耦合系统的解耦能力. |
| 英文摘要 |
| Active disturbance rejection control (ADRC) technique is applied to control the attitudes of a kind of heli-
copter. In order to guarantee the attitudes of a tandem rotor helicopter as we desired, a series of cascade ADRC controllers
are designed. After adjusting the parameters, we obtain the numerical simulation results based on ADRC strategy which
shows a better performance than linear quadratic regulator (LQR) method. Furthermore, real-time control experiments are
carried out. Satisfactory experimental results indicate that the cascade ADRC is better than LQR scheme not only in meet-
ing the control accuracy requirement but also in achieving rapid and effective response for the nonlinear coupled systems.
In addition, the ADRC controller has strong robustness and insensitivity to perturbations. |
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