风干扰下的四旋翼无人机ADRC控制律设计

Research on Quadrotor Based on ADRC Under Wind Disturbance

中文关键词:  侧风干扰  自抗扰控制  四旋翼

英文关键词:lateral wind disturbance  ADRC  quadrotor

中文摘要:

      针对小型四旋翼无人机飞行过程中姿态控制容易受侧向风干扰的问题，研究了一种自抗扰控制(ADRC)律。首先分析了侧向风对旋翼的推力，然后建立了风速的组合模型，利用自抗扰控制方法对风的干扰进行估计和补偿，最后在Matlab平台上对所提出的ADRC控制律进行仿真验证。从仿真结果看ADRC控制能够较好地对侧向风的干扰进行估计补偿，从而保证姿态控制具有较好的稳定性。

英文摘要:

      In order to solve the problem that small quadrotor is easily affected by lateral wind disturbance during the flight,an attitude control of quadrotor based on active disturbance rejection control (ADRC) technique is studied.Firstly,the thrust of the lateral wind to the rotor is analyzed,and then the combined model of wind speed is established.The ADRC control method is used to estimate and compensate the disturbance of the wind.Finally,the proposed control law is verified on the Matlab platform.The simulation results show that the ADRC has good performance on the interference estimation and compensation of lateral wind,as well as on the attitude control.