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针对四旋翼无人机欠驱动、强耦合的非线性动力学特性,文中研究设计了基于自抗扰控制技术的闭环飞行控制系统。自抗扰控制技术中,扩张观测器与基于误差的非线性反馈控制是其重要的两个部分。扩张状态观测器估计外部干扰和模型不确定性,以实现干扰和模型不确定性的动态补偿;此外,采用基于误差的非线性反馈可以改善控制效果。为保证飞行任务中精确的航迹跟踪,文中分析设计了一种实用的制导策略,并构建实时可视化飞行仿真系统以实现对所设计的制导策略和自抗扰飞行控制系统更为严格有效的验证。仿真结果表明所研究设计的制导策略和闭环飞行控制系统具有良好的制导和控制性能。
Aimed at the under-driven and strong-coupling nonlinear dynamic characteristics of quadrotor UAVs, a closed-loop flight control system based on ADRC technology is designed and designed. In anti-disturbance control technology, the expansion observer and the error-based nonlinear feedback control are two important parts. Extensional state observers estimate external disturbances and model uncertainties to achieve disturbances and dynamic compensation of model uncertainties. In addition, error-based nonlinear feedback can improve the control performance. In order to ensure the accurate tracking of the flight mission, a practical guidance strategy is analyzed and designed in this paper, and a real-time visual flight simulation system is constructed to verify the proposed guidance strategy and the ADRC flight control system more rigorously and effectively . The simulation results show that the guidance strategy and the closed-loop flight control system have good guidance and control performance.