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浙江大学学报(工学版)
自动化技术     
自抗扰技术在动力翼伞轨迹跟踪控制中的应用
檀盼龙, 孙青林, 陈增强
南开大学 计算机与控制工程学院,天津 300350
Application of active disturbance rejection control in trajectory tracking of powered parafoil system
TAN Pan-long, SUN Qing-lin, CHEN Zeng-qiang
College of Computer and Control Engineering, Nankai University, Tianjin 300350, China
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摘要:

为了降低动力翼伞系统的非线性特性和风场干扰对轨迹跟踪控制的影响,设计基于自抗扰控制技术的轨迹跟踪控制器.根据动力翼伞系统的特性,将动力翼伞系统的轨迹跟踪控制分为水平轨迹控制通道和垂直高度控制通道,分别设计线性扩张状态观测器(LESO)对系统非线性扰动和外部干扰进行估计和补偿.采用零阶保持器法对线性扩张状态观测器进行离散化,提高线性扩张状态观测器对系统状态的估计效果.仿真结果表明,动力翼伞系统的线性自抗扰轨迹跟踪控制器能够克服风场的影响,达到水平方向和竖直方向的轨迹跟踪控制要求,控制效果优于广义预测控制器.

Abstract: The trajectory tracking controllers based on active disturbance rejection control (ADRC) were proposed in order to reduce the influence of nonlinear characteristics of powered parafoil system and wind disturbance on the trajectory tracking control, involving the horizontal trajectory control channel and the vertical altitude control channel. The linear extended state observers (LESO) of the control channels were separately constructed to estimate and compensate the nonlinear and external disturbances. The zero-order hold discretization method was implemented to discretize LESO so that the estimation ability of LESO for system states was enhanced. Simulation results show that ADRC controllers achieve better tracking performance and robustness against the internal and external wind disturbance compared with the generalized predictive controller.
出版日期: 2017-05-01
CLC:  TP 23  
基金资助:

国家自然科学基金资助项目(61273138);天津市重点基金资助项目(14JCZDJC39300).

通讯作者: 孙青林,男,教授,博导.ORCID: 0000-0002-8118-2285.     E-mail: sunql@nankai.edu.cn
作者简介: 檀盼龙(1988—),男,博士,从事柔性飞行器建模与控制等研究. ORCID: 0000-0003-4415-5752. E-mail: 296055178@qq.com
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引用本文:

檀盼龙, 孙青林, 陈增强. 自抗扰技术在动力翼伞轨迹跟踪控制中的应用[J]. 浙江大学学报(工学版), 10.3785/j.issn.1008-973X.2017.05.020.

TAN Pan-long, SUN Qing-lin, CHEN Zeng-qiang. Application of active disturbance rejection control in trajectory tracking of powered parafoil system. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 10.3785/j.issn.1008-973X.2017.05.020.

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