CN111580541A - Unmanned aerial vehicle active disturbance rejection control system based on ADRC - Google Patents
Unmanned aerial vehicle active disturbance rejection control system based on ADRC Download PDFInfo
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- CN111580541A CN111580541A CN202010575715.5A CN202010575715A CN111580541A CN 111580541 A CN111580541 A CN 111580541A CN 202010575715 A CN202010575715 A CN 202010575715A CN 111580541 A CN111580541 A CN 111580541A
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
Abstract
The invention provides an ADRC-based unmanned aerial vehicle active disturbance rejection control system, which relates to the field of unmanned aerial vehicle control and comprises the following components: the device comprises a second-order differentiator, a nonlinear feedback device, a third-order state observer, a first proportional regulator and a second proportional regulator; the output quantity of the second-order differentiator is a first output quantity and a second output quantity; the output quantity of the third-order state observer is a third output quantity, a fourth output quantity and a fifth output quantity; the first output quantity and the third output quantity are compared to obtain a first input quantity; the second output quantity and the fourth output quantity are compared to obtain a second input quantity; the first input quantity and the second input quantity are jointly used as input quantities of the nonlinear feedback device; and after the fifth output quantity passes through the first proportional regulator, the input quantity of the nonlinear feedback device forms feedback through a comparison link, and a sixth output quantity is obtained. The system provided by the invention can solve the technical problems of overshoot, vibration and static errors in the control of the unmanned aerial vehicle in the prior art.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle control, in particular to an ADRC-based unmanned aerial vehicle active disturbance rejection control system.
Background
In the flight process, the unmanned aerial vehicle is influenced by various airflow interferences, ground effects, gyroscopic effects, propeller flapping characteristics and the like, and in order to deal with the external random interferences of the light feather unmanned aerial vehicle, a strong requirement is provided for the robustness of a control algorithm, and a PIXHAWK flight control program needs to be improved.
The conventional PIX flight control system is designed based on a PID control idea, and the effect is not good in practical application. For the external interference suffered by the airplane, the conditions of overshoot, vibration and static errors still exist.
To sum up, among the prior art, the robustness of unmanned aerial vehicle system remains to be improved, and unmanned aerial vehicle's control exists simultaneously, overshoot, vibrations and static error's technical problem.
Disclosure of Invention
In view of this, the present invention provides an active disturbance rejection control system for an unmanned aerial vehicle based on ADRC, so as to alleviate the technical problems of overshoot, vibration and static error in the control of the unmanned aerial vehicle in the prior art, and improve the robustness of the control system.
In a first aspect, an embodiment of the present invention provides an active disturbance rejection control system for an unmanned aerial vehicle based on ADRC, including: the device comprises a second-order differentiator, a nonlinear feedback device, a third-order state observer, a first proportional regulator and a second proportional regulator;
the output quantity of the second-order differentiator is a first output quantity and a second output quantity;
the output quantity of the third-order state observer is a third output quantity, a fourth output quantity and a fifth output quantity;
the first output quantity and the third output quantity are compared to obtain a first input quantity;
the second output quantity and the fourth output quantity are compared to obtain a second input quantity;
the first input quantity and the second input quantity are used together as the input quantity of the nonlinear feedback device;
after the fifth output quantity passes through the first proportional regulator, the fifth output quantity and the input quantity of the nonlinear feedback device form feedback through a comparison link, and the sixth output quantity is obtained;
the sixth output quantity is used as the input quantity of the controlled object to control the controlled object;
after the sixth output quantity passes through the second proportional regulator, the sixth output quantity and the output quantity of the controlled object jointly form the input quantity of the state observer;
the parameters of the first proportional regulator and the second proportional regulator are in inverse relation.
Preferably, the first output is any one of a pitch angle target angular velocity, a yaw angle target angular velocity and a roll angle target angular velocity;
the second output quantity is any one of a pitch angle target angular acceleration, a yaw angle target angular acceleration and a roll angle target angular acceleration;
the third output quantity is any one of the actual angular speed of a pitch angle, the actual angular speed of a yaw angle and the actual angular speed of a roll angle;
the fourth output quantity is any one of actual angular acceleration of a pitch angle, actual angular acceleration of a yaw angle and actual angular acceleration of a roll angle;
the fifth output is a disturbance of the system.
Preferably, the second order differentiator satisfies the following requirements:
x1-a first output quantity;
x2-a second output quantity;
v (t) -a reference signal;
r-fast factor (a parameter set artificially);
sign-sign function;
the nonlinear feedback device satisfies the following relationship
z1-a third output quantity;
z2-a fourth output quantity;
z3-a fifth output;
f(x1，x2) -a non-linear model;
β01、β02、β03-parameters set manually;
nonlinear feedback control law
The nonlinear feedback device satisfies the following rule:
u0＝-fhan(e1，ce2，r，h1)；
wherein fhan-steepest control synthesis function, e1，e2-observed quantity, c-damping factor, r-fast factor, h1-a filter factor.
The embodiment of the invention has the following beneficial effects: the invention provides an ADRC-based unmanned aerial vehicle active disturbance rejection control system, which comprises: the device comprises a second-order differentiator, a nonlinear feedback device, a third-order state observer, a first proportional regulator and a second proportional regulator; the output quantity of the second-order differentiator is a first output quantity and a second output quantity; the output quantity of the third-order state observer is a third output quantity, a fourth output quantity and a fifth output quantity; the first output quantity and the third output quantity are compared to obtain a first input quantity; the second output quantity and the fourth output quantity are compared to obtain a second input quantity; the first input quantity and the second input quantity are jointly used as input quantities of the nonlinear feedback device; after the fifth output quantity passes through the first proportional regulator, the input quantity of the nonlinear feedback device forms feedback through a comparison link and a sixth output quantity is obtained; after passing through the second proportional regulator, the sixth output quantity and the output quantity of the controlled object jointly form the input quantity of the state observer; the parameters of the first proportional regulator and the second proportional regulator are in inverse relation. The system provided by the invention can solve the technical problems of overshoot, vibration and static errors in the control of the unmanned aerial vehicle in the prior art, and simultaneously improve the robustness of the control system.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a control block diagram of an active disturbance rejection control system of an unmanned aerial vehicle based on ADRC according to an embodiment of the present invention;
fig. 2(a) is a diagram illustrating a yaw angle ADRC control effect of an active disturbance rejection control system of an unmanned aerial vehicle based on ADRC according to an embodiment of the present invention;
fig. 2(b) is a view illustrating a PID control effect of a yaw angle of an active disturbance rejection control system of an unmanned aerial vehicle based on ADRC according to an embodiment of the present invention;
fig. 3(a) is a pitch angle ADRC control effect diagram of an active disturbance rejection control system of an unmanned aerial vehicle based on ADRC according to an embodiment of the present invention;
fig. 3(b) is a pitch angle PID control effect diagram of an active disturbance rejection control system of an unmanned aerial vehicle based on ADRC according to an embodiment of the present invention;
fig. 4(a) is a roll angle ADRC control effect diagram of an ADRC-based unmanned aerial vehicle active disturbance rejection control system according to an embodiment of the present invention;
fig. 4(b) is a roll angle PID control effect diagram of an ADRC-based unmanned aerial vehicle active disturbance rejection control system according to an embodiment of the present invention;
fig. 5 is a time-varying curve of the control amount provided by the embodiment of the present invention.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
At present, in the prior art, the robustness of unmanned aerial vehicle system remains to be improved, and unmanned aerial vehicle's control exists simultaneously, overshoot, vibrations and static error's technical problem. Based on the above, the unmanned aerial vehicle active disturbance rejection control system based on the ADRC provided by the embodiment of the invention can alleviate the technical problems of overshoot, vibration and static errors in the control of the unmanned aerial vehicle in the prior art, and improve the robustness of the control system.
In order to facilitate understanding of the embodiment, first, an active disturbance rejection control system of an ADRC-based unmanned aerial vehicle disclosed in the embodiment of the present invention is described in detail.
The first embodiment is as follows:
as shown in fig. 1, an embodiment of the present invention provides an active disturbance rejection control system for an unmanned aerial vehicle based on ADRC, including: the device comprises a second-order differentiator, a nonlinear feedback device, a third-order state observer, a first proportional regulator and a second proportional regulator;
the output quantity of the second-order differentiator is a first output quantity and a second output quantity;
further, the first output quantity is X as shown in FIG. 11,The second output is shown in the figure1 is represented by X2；
The output quantity of the third-order state observer is a third output quantity, a fourth output quantity and a fifth output quantity;
further, the third output is represented by Z in FIG. 11Fourth output quantity is represented by Z in FIG. 12(ii) a Fifth output quantity is represented by Z in FIG. 13；
The first output quantity and the third output quantity are compared to obtain a first input quantity;
the second output quantity and the fourth output quantity are compared to obtain a second input quantity;
the first input quantity and the second input quantity are used together as the input quantity of the nonlinear feedback device;
after the fifth output quantity passes through the first proportional regulator, the fifth output quantity and the input quantity of the nonlinear feedback device form feedback through a comparison link, and the sixth output quantity is obtained;
the sixth output quantity is used as the input quantity of the controlled object to control the controlled object;
after the sixth output quantity passes through the second proportional regulator, the sixth output quantity and the output quantity of the controlled object jointly form the input quantity of the state observer;
the parameters of the first proportional regulator and the second proportional regulator are in inverse relation.
According to the above, the first output quantity and the third output quantity form a feedback channel through a nonlinear feedback device;
the second output quantity and the fourth output quantity form a feedback channel through a nonlinear feedback device;
preferably, the first output is any one of a pitch angle target angular velocity, a yaw angle target angular velocity and a roll angle target angular velocity;
the second output quantity is any one of a pitch angle target angular acceleration, a yaw angle target angular acceleration and a roll angle target angular acceleration;
further, the first output quantity is an integral function of the second output quantity;
the third output quantity is any one of the actual angular speed of a pitch angle, the actual angular speed of a yaw angle and the actual angular speed of a roll angle;
the fourth output quantity is any one of actual angular acceleration of a pitch angle, actual angular acceleration of a yaw angle and actual angular acceleration of a roll angle;
the fifth output is a disturbance of the system.
Preferably, the second order differentiator satisfies the following requirements:
x1-a first output quantity;
x2-a second output quantity;
v (t) -a reference signal;
r-fast factor (a parameter set artificially);
sign-sign function;
the nonlinear feedback device satisfies the following relationship
z1-a third output quantity;
z2-a fourth output quantity;
z3-a fifth output;
f(x1，x2) -a non-linear model;
β01、β02、β03-parameters set manually;
nonlinear feedback control law
The nonlinear feedback device satisfies the following rule:
u0＝-fhan(e1，ce2，r，h1)；
wherein fhan-steepest control synthesis function, e1，e2-quiltObserved quantity, c-damping factor, r-fast factor, h1-a filter factor.
The invention has the following technical effects
1) Compared with the prior PID control idea, the ADRC control strategy has stronger robustness and does not have the conditions of overshoot, vibration and static errors
2) The second-order differentiator can enlarge the selection range of the error feedback gain and the error differential gain, and enlarge the range of the object parameter adapted to the given feedback gain to improve the robustness;
3) and introducing the state of the total disturbance by adopting a third-order state observer.
In the embodiment provided by the present invention, the ADCR and PID control effects are simulated, specifically as shown in fig. 2 to 5.
As can be seen from comparison of fig. 2(a), 2(b), 3(a), 3(b), 4(a) and 4(b), the robustness of the system under the ADRC control is enhanced, the overshoot of the system is reduced, and the response time is shortened.
Setting parameters under PID control: kp＝1,Kd＝0.1,Ki＝5
Parameter settings under ADRC: c is 0.5, r is 0.05, h1＝0.006
The meaning of each control amount in fig. 5: v. off- -the controlled quantity v of yaw anglebControl of pitch angle
vr- -controlled quantity of roll angle vl- -control of the overall system
Unless specifically stated otherwise, the relative steps, numerical expressions, and values of the components and steps set forth in these embodiments do not limit the scope of the present invention.
In addition, in the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (3)
1. An unmanned aerial vehicle active disturbance rejection control system based on ADRC, its characterized in that includes: the device comprises a second-order differentiator, a nonlinear feedback device, a third-order state observer, a first proportional regulator and a second proportional regulator;
the output quantity of the second-order differentiator is a first output quantity and a second output quantity;
the output quantity of the third-order state observer is a third output quantity, a fourth output quantity and a fifth output quantity;
the first output quantity and the third output quantity are compared to obtain a first input quantity;
the second output quantity and the fourth output quantity are compared to obtain a second input quantity;
the first input quantity and the second input quantity are used together as the input quantity of the nonlinear feedback device;
after the fifth output quantity passes through the first proportional regulator, the fifth output quantity and the input quantity of the nonlinear feedback device form feedback through a comparison link, and the sixth output quantity is obtained;
the sixth output quantity is used as the input quantity of the controlled object to control the controlled object;
after the sixth output quantity passes through the second proportional regulator, the sixth output quantity and the output quantity of the controlled object jointly form the input quantity of the state observer;
the parameters of the first proportional regulator and the second proportional regulator are in inverse relation.
2. The system of claim 1, wherein the first output is any one of a pitch target angular velocity, a yaw target angular velocity, and a roll target angular velocity;
the second output quantity is any one of a pitch angle target angular acceleration, a yaw angle target angular acceleration and a roll angle target angular acceleration;
the third output quantity is any one of the actual angular speed of a pitch angle, the actual angular speed of a yaw angle and the actual angular speed of a roll angle;
the fourth output quantity is any one of actual angular acceleration of a pitch angle, actual angular acceleration of a yaw angle and actual angular acceleration of a roll angle;
the fifth output is a disturbance of the system.
3. The system of claim 2, wherein the second order differentiator satisfies the following requirement:
x1-a first output quantity;
x2-a second output quantity;
v (t) -a reference signal;
r-fast factor (a parameter set artificially);
sign-sign function;
the nonlinear feedback device satisfies the following relationship
z1-a third output quantity;
z2-a fourth output quantity;
z3-a fifth output;
f(x1，x2) -a non-linear model;
β01、β02、β03-parameters set manually;
nonlinear feedback control law
The nonlinear feedback device satisfies the following rule:
u0＝-fhan(e1，ce2，r，h1)；
wherein fhan-steepest control synthesis function, e1，e2-observed quantity, c-damping factor, r-fast factor, h1-a filter factor.
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