【摘要】 以某型共轴双旋翼无人直升机作为研究对象，对无人机返航进场与降落着舰阶段的抗扰动问题进行研究。针对海上着舰环境下的外界干扰与不确定性问题，选用自抗扰控制器设计共轴直升机姿态控制律，以提高共轴直升机对外部扰动的抗扰性能。针对自抗扰控制律调整参数过多问题，设计改进粒子群算法进行自动参数优化。仿真结果表明：改进粒子群算法能够显著提高参数整定速度，且精度更高；优化参数后的自抗扰控制律在强干扰环境下具备良好的动态响应与鲁棒性。更多还原

【Abstract】 A coaxial twin rotor unmanned helicopter is taken as the research object to study the anti disturbance problem during the homing approach and landing phases of unmanned aerial vehicles. In order to improve the anti disturbance performance of coaxial helicopters against external disturbances, an active disturbance rejection controller(ADRC) is selected to design the attitude control law for coaxial helicopters in the marine landing environment. An improved particle swarm optimization algorithm is designed to optimize the parameters of the active disturbance rejection control law. The simulation results show that the improved particle swarm optimization algorithm can significantly improve the parameter tuning speed and accuracy; the auto disturbance rejection control law with optimized parameters has good dynamic response and robustness in the strong interference environment.更多还原