Improved Design of Phase Modulation Compensation and Analysis of Disturbance Suppression for UAV Active Disturbance Rejection Control

doi:10.12382/bgxb.2023.0742

Abstract

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

CLC Number:

TJ85

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.

Figures/Tables 23

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

Fig.1 Design structure of phase modulation compensator

Fig.2 Structural framework of PCADRC

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

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

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

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

Fig.6 Rolling channel command tracking effect without background noise

Fig.7 Rolling channel noise input command

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

Fig.9 Compound trajectory tracking curve under undisturbed condition

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

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

Fig.11 Change of angular acceleration caused by wind disturbance

Fig.12 Composite trajectory tracking curve under wind disturbance conditions

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

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

Fig.14 Tracking curve of Channel x under interference conditions

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

Fig.16 Crazyflie drone

Fig.17 Crazyflie drone experimental environment

Fig.18 Trajectory tracking curves under NLADRC application

Fig.19 Trajectory tracking curves under PCADRC application

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