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针对小型无人直升机航向系统存在内部不确定性和外部扰动大的问题,提出了一种基于线性自抗扰控制(LADRC)算法来实现航向通道高性能控制方法。首先,分析和推导了Trex-600型无人直升机的航向模型,并引入阵风模型模拟实际飞行环境。然后,根据LADRC的控制原理设计了基于二阶LADRC的航向控制系统,并利用人工蜂群算法对控制器参数进行了整定。最后,对所设计的控制策略进行了仿真分析与实验验证,实现了无人直升机航向通道的轨迹跟踪控制,并与常见的PID控制进行了比较。结果表明:设计的LADRC控制器鲁棒性好、响应时间快、控制精度高,能够使Trex-600型无人直升机的航向角快速、精确地跟踪参考轨迹。
Aimed at the problem of small uncertainty and large external disturbances of small unmanned helicopter heading system, this paper proposes a method of high-performance heading course control based on LADRC algorithm. First, the heading model of the Trex-600 unmanned helicopter is analyzed and deduced, and a gust model is introduced to simulate the actual flight environment. Then, a second-order LADRC-based heading control system is designed according to the control principle of LADRC, and the controller parameters are adjusted by using artificial bee colony algorithm. Finally, the simulation and experimental verification of the designed control strategy are carried out. The trajectory tracking control of unmanned helicopter course is achieved and compared with the common PID control. The results show that the designed LADRC controller has good robustness, fast response time and high control precision, which can make the heading angle of the Trex-600 unmanned helicopter track the reference trajectory quickly and accurately.