新型六旋翼及其姿态自抗扰实现

A new type of six-rotor and its attitude active disturbance rejection

摘要:

新型六旋翼基于传统四旋翼构型增加左右两个主推力螺旋桨，可以在不改变俯仰角的前提下快速前飞，且快速实现偏航。由于无人机飞行过程外界干扰不确定，给飞行控制系统设计与验证带来极大挑战。基于新型六旋翼设计姿态控制系统，建立新型六旋翼无人机飞行动力学模型，设计操纵策略；应用自抗扰控制（ADRC）设计姿态控制器，通过姿态控制仿真验证自抗扰控制器的控制效果，使用粒子群优化（PSO）算法对自抗扰控制器部分参数进行优化。结果表明：PSO-ADRC 控制效果优于ADRC，姿态ADRC 控制器的抗干扰性和鲁棒性更优，可确保六旋翼无人机快速稳定飞行，粒子群算法进一步增强了ADRC 控制器的控制效果。

Abstract:

Based on the traditional four-rotor configuration, the new six-rotor adds two main thrust propellers, which can fly forward quickly without changing the pitch Angle and realize yaw quickly. This paper designs an attitude control system based on a new type of six-rotor. The uncertainty of external interference during UAV flight brings great challenges to the design and verification of flight control system. The flight dynamics model of a new six-rotor UAV is established, the Control strategy is designed, and the attitude controller is designed using the Active Disturbance Rejection Control (ADRC). Through the attitude control simulation, the effect of the active disturbance rejection controller is superior to the PID controller. Particle Swarm Optimization (PSO) was used to optimize some parameters of the active disturbance rejection controller, and the control effect of PSO-ADRC was better than that of ADRC. The results show that the attitude ADRC controller has better anti-interference and robustness, which can ensure the fast and stable flight of the six-rotor UAV. Particle swarm optimization (PSO) further enhances the control effect of ADRC controller.