基于微分跟踪器的共轴反桨无人机串级TD-PID控制算法

王思孝,赵文军,张浩,高永,李普森

Cascade TD-PID control algorithm for coaxial anti-propeller unmanned aerial vehicle based on tracking differentiator

Si-xiao WANG,Wen-jun ZHAO,Hao ZHANG,Yong GAO,Pu-sen LI

表 3 共轴反桨无人机串级TD-PID控制器参数表

Tab.3 Coaxial anti-propeller UAV cascade TD-PID controller parameter table

控制器 ${k_{{\rm{p}}\theta }} $ ${k_{{\rm{i}}\theta }} $ ${k_{{\rm{d}}\theta }} $ ${r_{01}}$ ${h_{01}}$ ${h_{1}}$ ${r_{02}}$ ${h_{02}}$ ${h_{2}}$ 俯仰/滚转通道 4.5 0.012 0.010 550 0.032 0.002 200 0.020 0.002 偏航通道 3.0 0.009 0.015 550 0.015 0.001 200 0.013 0.001