无人机自抗扰控制的调相补偿改进设计与抑扰实现

周浩; 暴小鹏; 张洪刚

doi:10.12382/bgxb.2023.0742

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无人机自抗扰控制的调相补偿改进设计与抑扰实现

更新时间：2025-08-18

- 无人机自抗扰控制的调相补偿改进设计与抑扰实现
- Improved Design of Phase Modulation Compensation and Analysis of Disturbance Suppression for UAV Active Disturbance Rejection Control
- 兵工学报 2024年45卷第10期页码：3619-3630
- 作者机构：
  
  海军工程大学兵器工程学院, 湖北武汉 430030
- 作者简介：
  
  *邮箱: baoxisopeng@163.com
- 基金信息：
  
  国家自然科学基金项目(62101579)
- DOI：10.12382/bgxb.2023.0742
  中图分类号：
- 收稿：2023-08-11，
  
  网络出版：2024-10-30，
  
  纸质出版：2024-10-31
- 稿件说明：
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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.

Hao ZHOU, Xiaopeng BAO, Honggang ZHANG. 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.
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. DOI： 10.12382/bgxb.2023.0742.

Hao ZHOU, Xiaopeng BAO, Honggang ZHANG. 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. DOI： 10.12382/bgxb.2023.0742.

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。

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.

关键词

Keywords

references

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