Active disturbance rejection control of attitude of compound unmanned helicopter

被引：0
|
作者：
Deng B. [1 ]
Xu J. [1 ]
机构：
[1] School of Aeronautics, Nanjing University of Aeronautics and Astronautics, Nanjing
来源：
Beijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics | 2023年 / 49卷 / 11期
关键词：
active disturbance rejection control; anti-interference; compound unmanned helicopter; flight attitude; robustness;
D O I：
10.13700/j.bh.1001-5965.2021.0788
中图分类号：
学科分类号：
摘要：
A compound unmanned helicopter is a non-linear and strongly coupled controlled plant with multiple redundant control inputs, and with its response varying with input strategies. The unmodeled internal structure dynamics and unknown external disturbances of the compound unmanned helicopter cause great difficulties in flight control system design. The attitude control law design is crucial for the helicopter to fly stably within the entire flight envelope. Based on a mathematical model for motion characteristics, the control strategies for the helicopter are designed for different flight modes, and the Simulink simulation model of the controlled plant is developed. The active disturbance rejection control (ADRC) of attitude is designed, and the comparison between the attitude ADRC and proportional-integral-derivative (PID) controller is conducted. The control effect of the attitude ADRC is better than that of the attitude PID controller. The simulation demonstrates that the anti-interference and robust performance of the ADRC meet the attitude control requirements for the compound unmanned helicopter, and that the quick and stable flight of the helicopter can be guaranteed for different flight modes. © 2023 Beijing University of Aeronautics and Astronautics (BUAA). All rights reserved.
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页码：3100 / 3107
页数：7
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