【摘要】 针对尾座式无人机容易受到外界风场扰动和模型不确定性影响的问题，设计了一种外环PID与内环自抗扰控制(ADRC)的组合控制算法进行悬停姿态与高度控制，并优化扩张状态观测器(ESO)以解决调参困难的问题。建立用垂向欧拉角定义的天东北坐标系来描述悬停飞行状态，进行数学建模并完成全量运动方程组。在Matlab/Simulink软件内搭建基于改进ADRC的非线性全量运动方程模型，通过大气紊流模型建立风场，仿真分析在干扰作用下的控制效果。仿真结果表明，改进ADRC控制算法能够有效抵抗风场干扰，实现稳定的悬停姿态与高度控制。更多还原

【Abstract】 To solve the problem that Tail-sitter UAV is easily affected by external wind field disturbance and model uncertainty, a combined control algorithm of outer loop PID and inner loop ADRC was designed to control the hovering attitude and height, and the ESO was optimized to solve the difficulty of parameter tuning.The northeast coordinate system defined by vertical Euler Angle was established to describe the hovering flight state, and mathematical modeling was carried out to complete the full motion equations.A nonlinear full motion equation model based on improved ADRC was established in Matlab/Simulink, and the wind field was established by Dryden atmospheric turbulence model, and the control effect under interference was simulated and analyzed.Simulation results show that the improved ADRC control algorithm can effectively resist wind field interference and achieve stable hover attitude and height control.更多还原