论文部分内容阅读
为降低翼伞系统的非线性和强耦合特性以及环境扰动对其轨迹跟踪控制的影响,提出一种基于线性自抗扰控制(linear active disturbance rejection control,LADRC)的翼伞系统轨迹跟踪控制方法。该方法采用基于制导的2D轨迹跟踪控制策略,使用LADRC设计控制器对轨迹跟踪误差进行实时修正。将该控制方法应用于多种扰动下翼伞系统轨迹跟踪仿真和空投实验中,结果表明,基于LADRC的轨迹跟踪控制方法能够有效克服内扰和外扰的影响,很好的实现参考轨迹的跟踪。
In order to reduce the nonlinear and strong coupling characteristics of wing parachute system and the influence of environmental disturbance on its trajectory tracking control, a linear active disturbance rejection control (LADRC) based trajectory tracking control method is proposed. The method uses guidance-based 2D trajectory tracking control strategy and uses LADRC to design the controller to correct the trajectory tracking error in real time. The control method is applied to the trajectory tracking simulation and the airdrop experiment of a variety of parachute systems under disturbances. The results show that the trajectory tracking control method based on LADRC can effectively overcome the influence of internal and external disturbances, and can well track the reference trajectory .