System Development & Application
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App. Res. of Comp. Printed Article
Vol. 36, 2019 No. 6
1753-1757

Research on attitude control method of unmanned helicopter based on linear active disturbance rejection control

Wang Yunxia1
Dai Jiyang1
Wang Cunsong2
Hu Feng1
1. College of Information Engineering, Nanchang Hangkong University, Nanchang 330063, China
2. College of Automation, Nanjing University of Aeronautics & Astronautics, Nanjing 211106, China
DOI: 10.19734/j.issn.1001-3695.2017.11.0793

Abstract

In order to solve the problems of complex model of unmanned helicopter difficulty of flight controller design and susceptible to external disturbances, this paper established a kinetic model of Trex series helicopters and proposed an improved second order linear active disturbance rejection controller. Firstly, it used the LADRC to estimate the disturbance that affected the output and added the tracking differentiator at the same time. Secondly, it improved the controller structure and the feedback compensation coefficient, so that the helicopter attitude angle could respond to the input command more quickly, and could fly at a set angle to accomplish the required tasks. Finally, it introduced the white noise interference module to verify the anti-jamming ability of the controller. Comparative simulation results show that the proposed controller has better control effect on the attitude angle of the unmanned helicopter. It is better than the other two controllers. Especially in the condition of noise interference, it also has better dynamic performance and robustness.

Foundation Support

国家自然科学基金资助项目(61663032)
江西省自然科学基金资助项目(20151BAB207043)
南昌航空大学研究生创新专项基金资助项目(YC2016010)
江西省教育厅自然科学基金资助项目(DA201404278)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2017.11.0793
Publish at: Application Research of Computers Printed Article, Vol. 36, 2019 No. 6
Section: System Development & Application
Pages: 1753-1757
Serial Number: 1001-3695(2019)06-032-1753-05

Publish History

[2019-06-05] Printed Article

Cite This Article

王云霞, 代冀阳, 王村松, 等. 一种线性自抗扰控制器的无人直升机姿态控制方法研究 [J]. 计算机应用研究, 2019, 36 (6): 1753-1757. (Wang Yunxia, Dai Jiyang, Wang Cunsong, et al. Research on attitude control method of unmanned helicopter based on linear active disturbance rejection control [J]. Application Research of Computers, 2019, 36 (6): 1753-1757. )

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Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

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