无人机自抗扰控制的调相补偿改进设计与抑扰实现

doi:10.12382/bgxb.2023.0742

摘要/Abstract

摘要：

为解决非线性自抗扰控制应用中无人机位姿跟踪控制响应相位滞后的问题,利用非线性函数的滤波特性与相位补偿机理完成调相补偿器设计,解决了跟踪微分器实际滤波与相位跟踪之间的矛盾,进而提出调相补偿改进后的自抗扰控制(Phase Compensation ADRC,PCADRC),将其应用于四旋翼无人机飞控作业中的姿态与轨迹跟踪。通过由空中避障圆角矩和锥形螺旋组成的复合轨迹跟踪分析PCADRC应用的飞航控制性能优势,并设计无人机轨迹跟踪抗扰实验,对自抗扰控制的调相补偿改进效果进行验证。仿真与实验结果表明,对于平面或空间、平缓或陡变不同性质的轨迹,PCADRC能在确保抑扰性能前提下提高位姿跟踪的准确性、时效性与鲁棒性,能更好满足其稳健的飞控需求。

关键词: 四旋翼无人机, 非线性自抗扰控制, 调相补偿, 参数整定, 轨迹跟踪

Abstract:

In order to solve the problem of phase lag in the response of position tracking control applied by nonlinear active disturbance rejection control (NLADRC) technology, the filtering characteristics of nonlinear functions and the phase compensation mechanism are utilized to complete the design of phase modulation compensator, which solves the contradiction between the actual filtering of a tracking differentiator and the phase tracking. And then a phase compensation active disturbance rejection control (PCADRC) is proposed, which is applied to the attitude and trajectory tracking of quadrotor unmanned aerial vehicle (UAV)in flight-control operations. The flight-control performance advantages of PCADRC application are analyzed through the composite trajectory tracking consisting of airborne obstacle avoidance rounded moments and conical spirals, and Thedisturbance rejectionexperiment for UAV trajectory tracking is designed, and the improved phase modulation compensation effect of ADRC is verified. The simulated and experimental results show that, for trajectories with different properties of planar or spatial, flat or steep, PCADRC can improve the accuracy, timeliness, and robustness of attitude tracking under the premise of ensuring the disturbance rejection performance, which can better satisfy the requirements of the robust flight control.

Key words: quadrotor unmanned aerial vehicle, nonlinear active disturbance rejection control, phase modulation compensation, parameter tuning, trajectory tracking

中图分类号:

TJ85

周浩, 暴小鹏, 张洪刚. 无人机自抗扰控制的调相补偿改进设计与抑扰实现[J]. 兵工学报, 2024, 45(10): 3619-3630.

ZHOU Hao, BAO Xiaopeng, ZHANG Honggang. Improved Design of Phase Modulation Compensation and Analysis of Disturbance Suppression for UAV Active Disturbance Rejection Control[J]. Acta Armamentarii, 2024, 45(10): 3619-3630.

图/表 23

表1 四旋翼无人机机体参数[9]

Table 1 Quadrotor UAV body parameters[9]

参数	数值
m/kg	1.5
l/m	0.225
g/(m·s^-2)	9.81
I_x/(kg·m²)	0.03
I_y/(kg·m²)	0.03
I_z/(kg·m²)	0.03

图1 调相补偿器设计结构

Fig.1 Design structure of phase modulation compensator

图2 PCADRC结构框架

Fig.2 Structural framework of PCADRC

图3 不同h取值下滚转角通道的跟踪曲线

Fig.3 Tracking curves of roll angle channels under different h values

图4 不同σ取值下观测到的系统总扰动

Fig.4 Total disturbance of the system observed under different σ values

图5 不同bφ取值下补偿扰动与实际扰动的吻合程度

Fig.5 The degree of coincidence between the disturbance amount compensated by NLSEF and the actual disturbance under different compensation coefficient values

表2 PCADRC方法参数整定值

Table 2 Control parameter setting values of PCADRC

组件	符号	数值	组件	符号	数值	组件	符号	数值
TD	r	10.2	ESO	β₁	30	NLSEF	a₁_n	0.65
TD	h	0.154		β₂	300		a₂_n	1.6
调相补偿器	a₁	0.43		β₃	1000		k₁	28.6
	a₂	2	a₁_e		0.5	k₂		22.4
	λ	3.8	a₂_e		0.25	σ		0.05
	σ₁	1	σ		0.05	b_i		35.7

图6 无背景噪声时滚转通道指令跟踪效果

Fig.6 Rolling channel command tracking effect without background noise

图7 滚转通道带噪声输入指令

Fig.7 Rolling channel noise input command

图8 白噪声背景下不同控制方法的滚转角跟踪效果

Fig.8 Roll angle tracking effects of different control methods under white noise background

图9 无扰条件下复合轨迹跟踪曲线

Fig.9 Compound trajectory tracking curve under undisturbed condition

图10 无扰条件下实际轨迹点与规划轨迹点的空间距离

Fig.10 Spatial distancesamong actual trajectory points and lanned trajectory points under undisturbed conditions

表3 无扰条件下轨迹跟踪偏差的统计量

Table 3 Statistics of trajectory tracking deviations under undisturbed conditions

阶段	方法	最大值/m	均值/m	标准差/m
空中避障轨迹段	串级PID控制	0.2690	0.0596	0.0477
	PID-NLADRC	0.1260	0.0340	0.0186
	PID-PCADRC	0.1110	0.0296	0.0131
锥形螺旋轨迹段	串级PID控制	0.2560	0.1150	0.0582
	PID-NLADRC	0.1660	0.0601	0.0397
	PID-PCADRC	0.1060	0.0491	0.0249
合段	串级PID控制	0.2690	0.0826	0.0590
	PID-NLADRC	0.1660	0.0449	0.0320
	PID-PCADRC	0.1110	0.0377	0.0212

图11 风扰引起的角加速度变化

Fig.11 Change of angular acceleration caused by wind disturbance

图12 风扰条件下复合轨迹跟踪曲线

Fig.12 Composite trajectory tracking curve under wind disturbance conditions

图13 风扰条件下实际轨迹点与规划轨迹点的空间距离

Fig.13 Spatial distances among actual trajectory points and planned trajectory points under wind disturbance conditions

表4 风扰条件下轨迹跟踪偏差的统计量

Table 4 Statistics of trajectory tracking deviations under wind disturbance conditions

阶段	控制策略	最大值	均值	标准差
空中避障轨迹段	串级PID控制	0.4150	0.1410	0.1200
	PID-ADRC	0.1690	0.0515	0.0356
	PID-PCADRC	0.1420	0.0440	0.0283
锥形螺旋轨迹段	串级PID控制	0.4430	0.2050	0.1430
	PID-ADRC	0.2270	0.0945	0.5730
	PID-PCADRC	0.1570	0.0790	0.0408
合段	串级PID控制	0.4430	0.1680	0.1340
	PID-ADRC	0.2270	0.0694	0.0505
	PID-PCADRC	0.1570	0.0586	0.0382

图14 干扰条件下x通道跟踪曲线

Fig.14 Tracking curve of Channel x under interference conditions

图15 干扰条件下y通道跟踪曲线

Fig.15 Tracking curve of of Channel y under interference conditions

图16 Crazyflie无人机

Fig.16 Crazyflie drone

图17 Crazyflie无人机实验环境

Fig.17 Crazyflie drone experimental environment

图18 NLADRC应用下的“八”字形轨迹跟踪曲线

Fig.18 Trajectory tracking curves under NLADRC application

图19 PCADRC应用下的“八”字形轨迹跟踪曲线

Fig.19 Trajectory tracking curves under PCADRC application

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