【作者】 张鑫；

【导师】 侯忠生；

【作者基本信息】 北京交通大学 ， 控制科学与工程， 2019， 硕士

【摘要】 四旋翼飞行器在各个领域有广泛的应用,具有重要的实际应用价值。四旋翼飞行器的控制系统是影响飞行品质的重要组成部分,针对四旋翼飞行器姿态调节的控制系统设计问题一直是研究的热点。本文以四旋翼飞行器这种结构复杂的多入多出非线性系统为研究对象,针对受扰情况下的四旋翼飞行器姿态调节的问题,以多入多出紧格式无模型自适应控制(Compact Form Dynamic Linearization Model-free Adaptive Control,CFDL-MFAC)算法为基础,设计了两种扰动抑制能力强的控制器,主要研究内容如下:(1)针对四旋翼飞行器系统,在研究了传统多入多出紧格式MFAC算法鲁棒性的基础上,对传统算法进行改进,提出了含抑制矩阵的改进MFAC算法(Restrained MFAC,RMFAC),并在理论上分析了改进算法的收敛性能。通过对四旋翼飞行控制器进行多组抗干扰的仿真实验说明,RMFAC控制器具有一定的抗干扰能力,且RMFAC控制器的鲁棒性比传统MFAC控制器的鲁棒性强。(2)为了进一步提高控制器抑制内部扰动的能力,将RMFAC控制器与自抗扰控制(Active Disturbance Rejection Control,ADRC)技术相结合,针对四旋翼飞行器设计出了一种ADRC-RMFAC飞行控制器。通过对飞行控制器进行多组抗干扰的仿真实验说明,ADRC-RMFAC控制器具有较强的干扰抑制能力,且ADRC-RMFAC控制器的鲁棒性强于传统MFAC控制器和ADRC控制器的鲁棒性。(3)以四旋翼飞行仿真器为平台,对传统MFAC控制器、ADRC控制器、RMFAC控制器和ADRC-RMFAC控制器进行了多组抗干扰的实时控制实验。在实验中,考虑了系统内部扰动和系统外部扰动的影响。实验结果表明,RMFAC控制器在实时控制中的干扰抑制能力比传统MFAC控制器的干扰抑制能力强;ADRC-RMFAC控制器在实时控制中的干扰抑制能力强于传统MFAC控制器和ADRC控制器的干扰抑制能力。更多还原

【Abstract】 Quadrotor aircraft is widely used in various fields with important practical value.The control system of the quadrotor aircraft is an important part in affecting flight quality,so that the problem of controller design for quadrotor aircraft attitude adjustment has been a research hotspot.For the multiple-input and multiple-output(MIMO)nonlinear system like quadrotor aircraft that with complex structure and disturbances,the controllers with strong interference suppression capability based on the MIMO compact form dynamic linearization model-free adaptive control(CFDL-MFAC)algorithm are proposed in this thesis.The main researches are as follows.(1)The traditional MIMO CFDL-MFAC algorithm is given according to the quadrotor aircraft system and the robustness of this algorithm is also studied.An improved algorithm named Restrained MFAC(RMFAC)with suppression matrix is proposed in this work,and the convergence of RMFAC algorithm is analyzed in theory.Based on traditional MFAC and the RMFAC algorithm,the quadrotor aircraft controllers are designed.Then,the anti-interference simulation experiment is carried out.The results demonstrate that RMFAC controller has certain anti-interference ability and the robustness of the RMFAC controller is stronger than the robustness of the traditional MFAC controller.(2)In order to improve the ability of controller to suppress intermal disturbances,the controller named ADRC-RMFAC is proposed which is combined RMFAC with active disturbance rejection control(ADRC)technology.The anti-interference simulation experiment is also conducted,and the results show that ADRC-RMFAC controller has strong capability with interference suppression.Meanwhile,the robustness of the ADRC-RMFAC controller is stronger than the robustness of the traditional MFAC and ADRC controller.(3)The anti-interference real-time control experiment of traditional MFAC,ADRC,RMFAC and ADRC-RMFAC controller was conducted by using the quadrotor flight simulator platform.The intermal disturbances and external disturbances are considered in the experiment.The experimental results demonstrate that the ability of the RMFAC controller to inhibit interference in real-time control is stronger than that of the traditional MFAC controller,and also the ability of the ADRC-RMFAC controller to inhibit interference in real-time control is stronger than that of the traditional MFAC and ADRC controller.更多还原