Design and stimulation of active disturbance rejection attitude controller of quadrotor

SONG Chun-lin; GUAN Ying-zi; WANG Ping-ping

doi:10.3788/OPE.20172514.0117

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Design and stimulation of active disturbance rejection attitude controller of quadrotor

更新时间：2020-08-13

- Design and stimulation of active disturbance rejection attitude controller of quadrotor
- Optics and Precision Engineering Vol. 25, Issue 12z, Pages: 117-124(2017)
- 作者机构：
  
  哈尔滨工业大学航天学院,黑龙江哈尔滨,150001
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20172514.0117
  CLC： V249.1
- Received：21 August 2017，
  
  Revised：04 September 2017，
  
  Published：31 December 2017
- 稿件说明：
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宋春林, 关英姿, 王萍萍. 四旋翼自抗扰姿态控制器设计与仿真研究[J]. 光学精密工程, 2017,25(12z): 117-124

SONG Chun-lin, GUAN Ying-zi, WANG Ping-ping. Design and stimulation of active disturbance rejection attitude controller of quadrotor[J]. Editorial Office of Optics and Precision Engineering, 2017,25(12z): 117-124
宋春林, 关英姿, 王萍萍. 四旋翼自抗扰姿态控制器设计与仿真研究[J]. 光学精密工程, 2017,25(12z): 117-124 DOI： 10.3788/OPE.20172514.0117.

SONG Chun-lin, GUAN Ying-zi, WANG Ping-ping. Design and stimulation of active disturbance rejection attitude controller of quadrotor[J]. Editorial Office of Optics and Precision Engineering, 2017,25(12z): 117-124 DOI： 10.3788/OPE.20172514.0117.

摘要

本文针对四旋翼飞行器姿态控制问题，设计了自抗扰控制器并进行仿真研究。首先，基于四元数建立了四旋翼姿态动力学的离散模型和执行机构模型。接着，介绍了自抗扰控制器的基本组成，并设计了以四元数为姿态描述的自抗扰姿态控制器。最后通过数学仿真对自抗扰姿态控制器与PID控制器的进行了性能比较。仿真结果表明，在达到同样响应速度的情况下，自抗扰姿态控制器输出的控制指令更为平滑，而且在输入指令包含噪声的情况下也表现出良好的控制性能。证明了基于四元数描述的自抗扰控制器能够在噪声中还原原有输入信号，并且在四旋翼的姿态控制性能上超过传统的PID控制器。

Abstract

Aimed at attitude control for quadrotor aircraft

active disturbance rejection controller (ADRC) was design and stimulation research was conducted in the thesis. Firstly

discrete model and actuator model of quadrotor attitude dynamics were established based on quaternion algebras. Next

basic composition of active disturbance rejection controller (ADRC) was introduced

and active disturbance rejection attitude controller subject to quaternion algebras as attitude description was designed. Finally

through mathematical simulation

performances of active disturbance rejection attitude controller and PID controller were compared. Stimulation result shows that under the condition of reaching the same response speed

control order output by active disturbance rejection attitude controller is smoother

and excellent control performance is shown under the condition of inputting order including noise. Active disturbance rejection controller based on quaternion algebras description can restore original input signal in noise

and quadrotor attitude control exceeds traditional PID controller in performance.

关键词

Keywords

references

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