为了补偿四旋翼飞行器的参数不确定性和扰动, 提出一种四旋翼飞行器速度的线性自抗扰控制方法。首先, 分析了四旋翼飞行器的动力学模型, 质心在惯性坐标系中的z轴线速度采用一阶自抗扰控制, x轴和y轴线速度采用比例加前馈控制, 并利用李雅普诺夫函数证明了三轴速度环控制系统渐近稳定。然后, 分析虚拟姿态角度求解, 采用二阶线性自抗扰控制实现3个方向姿态角跟踪, 证明了二阶线性自抗扰控制系统的稳定性。最后, 仿真实验表明, 与PD控制的系统相比, 四旋翼飞行器的速度自抗扰控制系统3个轴的线速度跟踪更快、无超调且跟踪误差小; 3个方向姿态角的收敛速度更快、跟踪误差小。

In order to compensate for parameter uncertainties and disturbances, a quadrotor aircraft speed control method based on Linear Active Disturbance Rejection Control (LADRC) is proposed.Firstly, the dynamic model of the quadrotor aircraft is analyzed.As for the quadrotor aircrafts barycenter in the inertial frame, linear speed of z axis is regulated via the first-order LADRC, and linear speeds of x and y axis are regulated via proportion control and feedforward control.The asymptotic stability of the three axes speed-loop control system is proved via the Lyapunov function.Then, the calculations of the virtual attitude angles are analyzed.The second-order LADRC is adopted to regulate three attitude angles tracking, which proves the stability of the second-order LADRC system.Finally, simulation experiments show that: compared with that of the PD control system, the linear speed tracking of three axes is faster with no overshoot and less tracking errors, and the convergence rates of three attitude angles are faster with less tracking errors.